Backstepping Sliding Mode Control of Dual-motor Servo System Based on Improved Double Power Reaching Law

被引：0
|
作者：
Xu, Shaman [1 ]
Tao, Liang [1 ]
Tao, Meiling [1 ]
Xu, Binzi [1 ]
Deng, Xiongfeng [1 ]
Shi, Linlin [2 ]
机构：
[1] Anhui Polytech Univ, Coll Elect Engn, Wuhu 241000, Peoples R China
[2] South China Agr Univ, Coll Engn, Guangzhou 510642, Peoples R China
来源：
2023 IEEE 12TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE, DDCLS | 2023年
关键词：
Dual-motor driving servo system; backlash nonlinearity; Improved double power reaching law; Backstepping sliding mode control; DISTURBANCE; OBSERVER;
D O I：
10.1109/DDCLS58216.2023.10166242
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An improved double power reaching law is proposed in this paper to solve the nonlinear problem of the backlash in the mechanical transmission link of the dual motor driving servo system. Firstly, the dual-motor servo system with gear is established. Then, the traditional double power reaching law and sliding mode surface are employed to obtain the filtered variables, which can construct a compensation term in original reaching law to reduce the compact of system uncertainties and disturbances. The convergence analysis and boundness of the improved double power reaching law are provided. Besides, the backstepping sliding mode control is investigated to greatly improves the convergence efficiency of the system, and the stability analysis is carried out. Finally, the effectiveness of the proposed methods is verified by simulations.
引用
收藏
页码：1952 / 1957
页数：6
相关论文
共 50 条
  • [21] Robust Sliding Mode Control of the Permanent Magnet Synchronous Motor with an Improved Power Reaching Law
    Gong, Zhenjie
    Ba, Xin
    Zhang, Chengning
    Guo, Youguang
    ENERGIES, 2022, 15 (05)
  • [22] Adaptive sliding mode control of electromechanical servo system based on variable rate reaching law
    Chen Q.
    Cao Y.-Q.
    Wu C.
    Kongzhi yu Juece/Control and Decision, 2022, 37 (04): : 1067 - 1073
  • [23] Terminal Sliding Mode Control for Landing on Asteroids based on Double Power Reaching Law
    Liu, Keping
    Cao, Yingmei
    Wang, Shenquan
    Li, Yuanchun
    2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2015, : 2444 - 2449
  • [24] Sliding mode speed control of permanent magnet synchronous motor based on improved reaching law
    Zou, Xinhong
    Ding, Hongchang
    Li, Jinhong
    COMPEL-THE INTERNATIONAL JOURNAL FOR COMPUTATION AND MATHEMATICS IN ELECTRICAL AND ELECTRONIC ENGINEERING, 2023, 42 (06) : 1335 - 1348
  • [25] Sliding Mode Control of Manipulator Based on Improved Reaching Law and Sliding Surface
    Ji, Peng
    Li, Chenglong
    Ma, Fengying
    MATHEMATICS, 2022, 10 (11)
  • [26] Sliding Mode Control of Electro-Hydraulic Position Servo System Based on Adaptive Reaching Law
    Sun, Chungeng
    Dong, Xiangxiang
    Wang, Mingjin
    Li, Jipeng
    APPLIED SCIENCES-BASEL, 2022, 12 (14):
  • [27] Sliding mode tracking control of manipulator based on the improved reaching law
    1600, International Frequency Sensor Association, 46 Thorny Vineway, Toronto, ON M2J 4J2, Canada (20):
  • [28] Improved Reaching Law Sliding Mode Control Applied to Active Power Filter
    Zhang, Xiao
    Li, Jing
    Liu, Xiaolei
    INFORMATION COMPUTING AND APPLICATIONS, PT I, 2011, 243 : 67 - 74
  • [29] Sliding Mode Control of Underactuated Nonlinear Systems Based on Piecewise Double Power Reaching Law
    Yue, Congcong
    Yu, Haisheng
    Meng, Xiangxiang
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2022, 2022
  • [30] Nonlinear Control Method for Hypersonic Vehicle Based on Double Power Reaching Law of Sliding Mode
    Liu Rong
    Zhang Heng
    Liang Jin
    Transactions of Nanjing University of Aeronautics and Astronautics, 2018, 35 (05) : 849 - 857
12345