ISSN 0253-2778

CN 34-1054/N

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Position control of DC-motor based on sliding mode variable structure and high-gain observer

  • 1.

    College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China

  • 2.

    Traffic College, Northeast Forestry University, Harbin 150040, China

Cite this:
https://doi.org/10.3969/j.issn.0253-2778.2018.01.011
  • Received Date: 01 April 2017
  • Rev Recd Date: 15 August 2017
  • Publish Date: 31 January 2018
    Abstract

  • Abstract

    A position sliding mode control method based on a high-gain observer is proposed for DC-motor position tracking control. The state space expression of the DC-motor is established. A high-gain observer is designed to observe the speed, current and their derivative signals. The accuracy and stability of the observer is guaranteed by placing suitable poles. The exponential reaching law of sliding mode variable structure is improved. The position tracking control of the DC-motor is realized by adopting the position

    Abstract

    A position sliding mode control method based on a high-gain observer is proposed for DC-motor position tracking control. The state space expression of the DC-motor is established. A high-gain observer is designed to observe the speed, current and their derivative signals. The accuracy and stability of the observer is guaranteed by placing suitable poles. The exponential reaching law of sliding mode variable structure is improved. The position tracking control of the DC-motor is realized by adopting the position
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    • References(13)
  • [1]
    夏俊,李倩龙,潘剑飞,等.基于滑模的圆筒直线电机位置控制系统研究[J].微特电机,2016, 44(9): 86-88.
    XIA Jun, LI Qianlong, PAN Jianfei, et al. Research on position control system of tubular linear motor based on sliding mode[J]. Small & Special Electrical Machines, 2016, 44(9): 86-88.
    [2]
    方一鸣,李智,吴洋羊,等.基于终端滑模负载观测器的永磁同步电机位置系统反步控制[J].电机与控制学报,2014,18(9): 105-110.
    FANG Yiming, LI Zhi, WU Yangyang, et al. Backstepping control of PMSM position systems based on terminal-sliding-mode load observer[J]. Electric Machines and Control, 2014,18(9): 105-110.
    [3]
    ZHANG H, GE L, SHI M J, et al. Research of compound control for dc motor system based on global sliding mode disturbance observer[J]. Mathematical Problems in Engineering, 2014, (2): 1-7.
    [4]
    王锐,刘金坤. 基于高增益观测器的四旋翼无人机轨迹跟踪控制[J].飞行力学, 2017, 35(1): 42-47.
    WANG Rui, LIU Jinkun. Trajectory tracking control of quadrotor UAV based on high-gain observer[J]. Flight Dynamics, 2017, 35(1): 42-47.
    [5]
    侯利民,臧东.带扩张状态观测器的PMSM双滑模控制[J].控制工程, 2016, 23(9): 1436-1441.
    HOU Limin，ZANG Dong. Double-sliding-mode control method for PMSM based on ESO[J]. Control Engineering of China, 2016, 23(9): 1436-1441.
    [6]
    张杨名,闫鹏.线性电机伺服系统的自适应鲁棒控制[J].控制理论与应用, 2015, 32(3): 287-294.
    ZHANG Yangming, YAN Peng. Adaptive robust control for linear motor servo systems[J]. Control Theory & Applications, 2015, 32(3): 287-294.
    [7]
    张碧陶,高福荣,姚科.集成神经网络与自适应算法的分数阶滑模控制[J].控制理论与应用, 2016, 33(10): 1373-1376.
    ZHANG Bitao, GAO Furong, YAO Ke. Neural network and adaptive algorithm-based fractional order sliding mode controller, Control Theory & Applications, 2016, 33(10): 1373-1376.
    [8]
    刘春芳,杜昭童.快速刀具伺服系统的模糊自适应滑模控制[J].沈阳工业大学学报,2015,37(3):126-130.
    [9]
    SWAMY C L P, SINGH B, SINGH B P. Fuzzy based sliding mode control of permanent magnet brushless DC motor [J]. Iete Journal of Research, 2015, 41(4): 245-252.
    [10]
    邱腾飞,温旭辉,赵峰等.永磁同步电机永磁磁链自适应观测器设计方法[J].中国电机工程学报, 2015, 35(9): 2287-2294.
    QIU Tengfei，WEN Xuhui. Design Strategy of Permanent Magnet Flux Linkage Adaptive Observer for Permanent Magnet Synchronous Motor[J]. Proceedings of the CSEE, 2015, 35(9): 2287-2294.
    [11]
    孟桂芝,李兴华,宋迎春.一类具有高增益观测器的非线性系统的输出调节[J].电机与控制学报, 2016, 20(10): 104-113.
    MENG Guizhi, LI Xinghua, SONG Yingchun. Output regulation of a glass of uncertain nonlinear systems based on high-gain state observers[J]. Electric Machines and Control, 2016, 20(10): 104-113.
    [12]
    许波,朱熀秋.自适应非奇异终端滑模控制及其在BPMSM中的应用[J].控制与决策, 2014, 29(5): 833-837.
    XU Bo, ZHU Huangqiu. Adaptive nonsingular terminal sliding model control and its application to BPMSM[J]. Control and Decision, 2014, 29(5): 833-837.
    [13]
    张瑶,马广富,郭延宁等.一种多幂次滑模趋近律设计与分析[J].自动化学报, 2016, 42(3): 466-472.
    ZHANG Yao, MA Guangfu, GUO Yannin, A multi power reaching law of sliding mode control design and analysis[J]. Acta Automatica Sinica, 2016, 42(3): 466-472.
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    [1]
    夏俊,李倩龙,潘剑飞,等.基于滑模的圆筒直线电机位置控制系统研究[J].微特电机,2016, 44(9): 86-88.
    XIA Jun, LI Qianlong, PAN Jianfei, et al. Research on position control system of tubular linear motor based on sliding mode[J]. Small & Special Electrical Machines, 2016, 44(9): 86-88.
    [2]
    方一鸣,李智,吴洋羊,等.基于终端滑模负载观测器的永磁同步电机位置系统反步控制[J].电机与控制学报,2014,18(9): 105-110.
    FANG Yiming, LI Zhi, WU Yangyang, et al. Backstepping control of PMSM position systems based on terminal-sliding-mode load observer[J]. Electric Machines and Control, 2014,18(9): 105-110.
    [3]
    ZHANG H, GE L, SHI M J, et al. Research of compound control for dc motor system based on global sliding mode disturbance observer[J]. Mathematical Problems in Engineering, 2014, (2): 1-7.
    [4]
    王锐,刘金坤. 基于高增益观测器的四旋翼无人机轨迹跟踪控制[J].飞行力学, 2017, 35(1): 42-47.
    WANG Rui, LIU Jinkun. Trajectory tracking control of quadrotor UAV based on high-gain observer[J]. Flight Dynamics, 2017, 35(1): 42-47.
    [5]
    侯利民,臧东.带扩张状态观测器的PMSM双滑模控制[J].控制工程, 2016, 23(9): 1436-1441.
    HOU Limin，ZANG Dong. Double-sliding-mode control method for PMSM based on ESO[J]. Control Engineering of China, 2016, 23(9): 1436-1441.
    [6]
    张杨名,闫鹏.线性电机伺服系统的自适应鲁棒控制[J].控制理论与应用, 2015, 32(3): 287-294.
    ZHANG Yangming, YAN Peng. Adaptive robust control for linear motor servo systems[J]. Control Theory & Applications, 2015, 32(3): 287-294.
    [7]
    张碧陶,高福荣,姚科.集成神经网络与自适应算法的分数阶滑模控制[J].控制理论与应用, 2016, 33(10): 1373-1376.
    ZHANG Bitao, GAO Furong, YAO Ke. Neural network and adaptive algorithm-based fractional order sliding mode controller, Control Theory & Applications, 2016, 33(10): 1373-1376.
    [8]
    刘春芳,杜昭童.快速刀具伺服系统的模糊自适应滑模控制[J].沈阳工业大学学报,2015,37(3):126-130.
    [9]
    SWAMY C L P, SINGH B, SINGH B P. Fuzzy based sliding mode control of permanent magnet brushless DC motor [J]. Iete Journal of Research, 2015, 41(4): 245-252.
    [10]
    邱腾飞,温旭辉,赵峰等.永磁同步电机永磁磁链自适应观测器设计方法[J].中国电机工程学报, 2015, 35(9): 2287-2294.
    QIU Tengfei，WEN Xuhui. Design Strategy of Permanent Magnet Flux Linkage Adaptive Observer for Permanent Magnet Synchronous Motor[J]. Proceedings of the CSEE, 2015, 35(9): 2287-2294.
    [11]
    孟桂芝,李兴华,宋迎春.一类具有高增益观测器的非线性系统的输出调节[J].电机与控制学报, 2016, 20(10): 104-113.
    MENG Guizhi, LI Xinghua, SONG Yingchun. Output regulation of a glass of uncertain nonlinear systems based on high-gain state observers[J]. Electric Machines and Control, 2016, 20(10): 104-113.
    [12]
    许波,朱熀秋.自适应非奇异终端滑模控制及其在BPMSM中的应用[J].控制与决策, 2014, 29(5): 833-837.
    XU Bo, ZHU Huangqiu. Adaptive nonsingular terminal sliding model control and its application to BPMSM[J]. Control and Decision, 2014, 29(5): 833-837.
    [13]
    张瑶,马广富,郭延宁等.一种多幂次滑模趋近律设计与分析[J].自动化学报, 2016, 42(3): 466-472.
    ZHANG Yao, MA Guangfu, GUO Yannin, A multi power reaching law of sliding mode control design and analysis[J]. Acta Automatica Sinica, 2016, 42(3): 466-472.
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