Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

China Mechanical Engineering ›› 2011, Vol. 22 ›› Issue (20): 2395-2398.

Previous Articles Next Articles

Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

Li Renjun1;Liu Hongzhao2;Wang Jingping1

1.Anhui Polytechnic University,Wuhu,Anhui,241000 

2.Xi'an University of Technology,Xi'an,710048

Online:2011-10-25 Published:2011-11-02
Supported by:

National Natural Science Foundation of China（No. 50575180）;
Anhui Provincial Natural Science Foundation of China（No. KJ2011B016，KJ2011B018）

混合输入机构的模糊自适应变结构控制

李仁军1;刘宏昭2;王静平1

1.安徽工程大学,芜湖,241000

2.西安理工大学,西安,710048

基金资助:
国家自然科学基金资助项目(50575180)；安徽省自然科学基金资助项目(KJ2011B016，KJ2011B018)；安徽工程大学引进人才科研启动基金资助项目(2011YQQ005)
National Natural Science Foundation of China（No. 50575180）;
Anhui Provincial Natural Science Foundation of China（No. KJ2011B016，KJ2011B018）

Abstract

Abstract:

The motion of constant velocity motor is detectable but uncontrollable in hybrid system. The strategy for control servomotor based on tracking the motion of constant velocity motor was proposed. An adaptive fuzzy sliding mode controller in considering the uncertainties and external diterbance of the system was desigened for trajectory tracking of hybrid machine.The control gain was acquired by approximating the sum of uncertainties of the system on the basis of adaptive fuzzy control, and the chatter in sliding mode control was eliminated in the controller. 

Key words: hybrid machine, trajectory tracking, sliding mode control, fuzzy control, adaptive control

摘要：

针对混合输入机构中常速电机可测不可控的特点，提出了基于常速电机位置跟踪的控制策略来对伺服电机进行控制,对常速电机的速度波动进行补偿，并给出了控制框图。因为系统的精确动力学模型难以获得，故考虑系统参数的不确定、外部扰动和非线性摩擦，设计了模糊自适应滑模变结构控制器以实现混合输入机构的轨迹跟踪。应用模糊自适应推理逼近系统的不确定之和，从而得到连续的控制增益，消除了变结构控制的抖振。

关键词:

混合输入机构, 轨迹跟踪, 滑模变结构控制, 模糊控制, 自适应控制

CLC Number:

TH112

LI Ren-Jun-1, LIU Hong-Zhao-2, WANG Jing-Beng-1.

Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

[J]. China Mechanical Engineering, 2011, 22(20): 2395-2398.

李仁军1, 刘宏昭2, 王静平1.

混合输入机构的模糊自适应变结构控制

[J]. 中国机械工程, 2011, 22(20): 2395-2398.

[1]	LIU Junling, FENG Ganghui, ZHANG Junjiang, YANG Kai. Fusion Research of Trajectory Tracking Energy-saving Control of Unmanned Hybrid Vehicles [J]. China Mechanical Engineering, 2024, 35(04): 678-690.
[2]	MEI Jie, QIN Jiarui, CHEN Dingfang, CHEN Kun, . SLAM-based Underwater Image Enhanced Visual 3D Reconstruction Method [J]. China Mechanical Engineering, 2024, 35(02): 268-279.
[3]	WU Yingnian, ZHANG Jing, LI Qingkui, JIAO Shuai, . Supply Chain Inventory System Optimization Model under Demand Disturbances [J]. China Mechanical Engineering, 2023, 34(14): 1672-1682，1700.
[4]	ZHAO Ximei, WANG Chao, JIN Hongyan. Adaptive Fractional Order Sliding Mode Control for PMSMs Based on NDO [J]. China Mechanical Engineering, 2023, 34(09): 1093-1099,1119.
[5]	FU Xiang, WANG Yuxin, LIU Daoyuan, WANG Jijie, . Driving Force Control of Hub Motor Vehicle Based on Off-road Condition Identification [J]. China Mechanical Engineering, 2023, 34(08): 955-965.
[6]	ZHANG Junxin, CHEN Wei, HUANG Sikai, WU Haibin. Control Strategies for Industrial Robot Motion along Slot Based on Force and Position Hybrid Guidances [J]. China Mechanical Engineering, 2023, 34(06): 712-719，726.
[7]	ZHANG Ke, WANG Xiaokai, HUA Lin, HAN Xinghui, NING Xiangjin, . Study on Offset Mechanism and Adaptive Fuzzy Control Method for Radial-axial Ring Rolling Processes of Super Large Rings [J]. China Mechanical Engineering, 2023, 34(01): 109-117.
[8]	WANG Dongjie, WANG Pengjiang, LI Yue, GUO Mingze, ZHENG Weixiong, SHEN Yang, WU Miao. Research on Adaptive Cutting Control Strategy of Roadheader Cutting Arms [J]. China Mechanical Engineering, 2022, 33(20): 2492-2501.
[9]	LIU Jun, SHI Chaohuan, LIN Beiqing, HUANG He. Design and Steering Angle Control of Steering-by-Wire Hydraulic Systems for Multi-axle Vehicles [J]. China Mechanical Engineering, 2022, 33(14): 1741-1750.
[10]	LIU Yanxiong, WANG Genju, HUA Lin, ZHAO Xinhao, . Double-drive Coordinated Control Systems of Fine Stamping Machines Based on Adaptive Sliding Mode Variable Structure Control [J]. China Mechanical Engineering, 2021, 32(18): 2189-2196.
[11]	LIU Yanyu;YU Fan;SONG Juanjuan;PANG Jisu;KAKU Chuyo. Detection of Brake Requests Using Neural Network and Fuzzy Control [J]. China Mechanical Engineering, 2020, 31(23): 2847-2855.
[12]	LI Yang1,2，3；LIU Ziming1，2，4；CHEN Qingying1,2，3. Decoupling Active Caster Omnidirectional Mobile Robot Tracking Control Considering Slip Interferences [J]. China Mechanical Engineering, 2020, 31(18): 2247-2253.
[13]	FAN Aimin;CHANG Siqin;CHEN Huitao. Back-stepping Sliding Mode Control for an Electromagnetic Valve Actuator [J]. China Mechanical Engineering, 2020, 31(03): 274-280,288.
[14]	QIN Yanming;ZHAO Jingyi;MA Jinyu;WANG Jianjun. Trajectory Tracking Control of Eight-DOF Manipulators [J]. China Mechanical Engineering, 2019, 30(22): 2741-2747,2756.
[15]	HUANG Daomin1,2；HAN Lijun1；TANG Guoyuan1；ZHOU Zengcheng1；XU Guohua1. Fractional Integral Sliding Mode Control for Trajectory Tracking of Underwater Manipulators [J]. China Mechanical Engineering, 2019, 30(13): 1513-1518.

Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

混合输入机构的模糊自适应变结构控制

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics