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Discrete terminal sliding mode model-free control method with disturbance observer

A disturbance observer and terminal sliding mode technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of complex modeling process, unsatisfactory control effect, and difficulty in achieving the effect, so as to increase anti-interference. performance, satisfactory control performance, and the effect of reducing industrial energy consumption

Pending Publication Date: 2020-07-28
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Often these interference factors will make the control effect unsatisfactory, and it is difficult to achieve the expected effect
Similarly, many sliding mode controls are based on the known model information of the controlled object. If the model of the controlled object is unknown or not completely clear, the control effect is not ideal.
[0004] The literature "Zhang Yan, Li Fanru, Li Wei, et al. Dynamics analysis and simulation of lower extremity exoskeleton based on human-machine coupling [J]. Applied Mathematics and Mechanics, 2019, 040(007): 780-790." The lower extremity exoskeleton has carried out mathematical analysis and dynamic modeling, but there are the following problems: (1) the modeling process is extremely complicated and cumbersome; (2) the established model is not accurate enough

Method used

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  • Discrete terminal sliding mode model-free control method with disturbance observer
  • Discrete terminal sliding mode model-free control method with disturbance observer
  • Discrete terminal sliding mode model-free control method with disturbance observer

Examples

Experimental program
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Effect test

Embodiment 1

[0102] The controlled object of the present embodiment is a nonlinear system with non-minimum phase in SISO, Single Input and Single Output, and its system model is:

[0103]

[0104] Expected input from the system:

[0105] In an embodiment, n=9. The value of the control input linearization length constant L is usually set according to the complexity of the controlled object and the actual control effect, generally between 1 and 10, too small will affect the control effect, too large will lead to a large amount of calculation, so generally Usually take 3 or 5, in this embodiment L=3.

[0106] The experimental control group in this example only uses the partial scheme model-free adaptive control u p (k), its parameter setting: ρ is taken as 0.5, υ=1, u(1:5)=0, y(1:6)=0, du(1:3)=0, φ 1 (1:5)=1,φ 2 (1:5)=0.5,φ 3 (1:5) = 0.5.

[0107] The parameter setting of present embodiment: ρ all gets 0.5, υ=1, l 1 =0.8,l 2 =0.5,l 3 =0.8, γ=2 / 11, Γ=1, Λ=0.8, Ω s =0.002, ε=0.00...

Embodiment 2

[0113]The controlled object of this embodiment is a double-capacity water tank system, and its transfer function is:

[0114]

[0115] In an embodiment, n=9. The value of the control input linearization length constant L is usually set according to the complexity of the controlled object and the actual control effect, generally between 1 and 10, too small will affect the control effect, too large will lead to a large amount of calculation, so generally Usually take 3 or 5, in this embodiment L=3.

[0116] The experimental control group of the present embodiment adopts the control method combining the compact model-free adaptive control and the sliding mode control based on the general discrete reaching law, and its controller is: u(k)=Hu j (k)+Ku sm (k), the controller is classified into compact model-free adaptive control u j (k) and sliding mode control u based on general discrete reaching law sm (k);

[0117] Compact Form Model-Free Adaptive Control

[0118] In t...

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Abstract

The invention discloses a discrete terminal sliding mode model-free control method with a disturbance observer. According to the method, model-free adaptive control and discrete terminal sliding modecontrol are combined, meanwhile, a fuzzy RBF neural network disturbance observer is introduced to accurately estimate external disturbance, interference immunity is increased, the problems of strong nonlinearity and difficulty in establishing an accurate mathematical model can be solved, the problem of inaccurate modeling of a complex model can be avoided, the robustness and the anti-interferenceperformance of the system are enhanced by adding discrete terminal sliding mode control, an ideal expected curve can be tracked more accurately compared with a traditional single model-free control method, the error between the ideal expected curve and an ideal expected value is very small, high-precision, high-stability and high-applicability control is achieved, and meanwhile industrial energy consumption is reduced.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a discrete terminal sliding mode model-free control method with a disturbance observer. Background technique [0002] In chemical industry, food, machinery and other fields, many controlled objects such as rectification tower, reactor, machine equipment and so on have strong nonlinearity and its precise mathematical model is difficult to establish. Therefore, it is a control problem to achieve high precision, high stability and high applicability control and reduce industrial energy consumption, which has always been a major challenge in the field of industrial automation control. [0003] Model-free adaptive control is a new data-driven control method that does not require an accurate mathematical model of the controlled object, and only relies on the real-time input and output data of the controlled object to establish an equivalent data model for control research, and is easy ...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02Y02P90/02
Inventor 张燕张誉腾李思宁弓正菁樊琪
Owner HEBEI UNIV OF TECH
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