CIOMP OpenIR
Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator
Zhang, M. Y.; Zhou, M.; Liu, H.; Zhang, B. Q.; Zhang, Y. L.; Chu, H. R.
2018
发表期刊Advances in Mechanical Engineering
ISSN1687-8140
卷号10期号:12页码:15
摘要The performance of the electromechanical actuator system is usually affected by the nonlinear friction torque disturbance, model uncertainty, and unknown disturbances. In order to solve this problem, a model-based friction compensation method combined with an observer-based adaptive sliding mode controller for the speed loop of electromechanical actuator system is presented in this article. All the disturbances and model uncertainty of electromechanical actuator system are divided into two parts. One is model-based friction torque disturbance which can be identified by experiments, and the other is the residual disturbance which cannot be identified by experiments. A modified LuGre model is adopted to describe the friction torque disturbance of electromechanical actuator system. An extended state observer is designed to estimate the residual disturbance. An adaptive sliding mode controller is designed to control the system and compensate the friction torque disturbance and the residual disturbance. The stability of the electromechanical actuator system is discussed with Lyapunov stability theory and Barbalat's lemma. Experiments are designed to validate the proposed method. The results demonstrate that the proposed control strategy not only provides better disturbance rejecting ability but also provides better steady state and dynamic performance.
关键词Electromechanical actuator system adaptive sliding mode controller modified LuGre friction model disturbance rejecting ability extended state observer robust-control systems single design ball Thermodynamics Engineering
DOI10.1177/1687814018813793
收录类别SCI
引用统计
文献类型期刊论文
条目标识符http://ir.ciomp.ac.cn/handle/181722/60673
专题中国科学院长春光学精密机械与物理研究所
推荐引用方式
GB/T 7714
Zhang, M. Y.,Zhou, M.,Liu, H.,et al. Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator[J]. Advances in Mechanical Engineering,2018,10(12):15.
APA Zhang, M. Y.,Zhou, M.,Liu, H.,Zhang, B. Q.,Zhang, Y. L.,&Chu, H. R..(2018).Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator.Advances in Mechanical Engineering,10(12),15.
MLA Zhang, M. Y.,et al."Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator".Advances in Mechanical Engineering 10.12(2018):15.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Friction compensatio(1523KB)期刊论文出版稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Zhang, M. Y.]的文章
[Zhou, M.]的文章
[Liu, H.]的文章
百度学术
百度学术中相似的文章
[Zhang, M. Y.]的文章
[Zhou, M.]的文章
[Liu, H.]的文章
必应学术
必应学术中相似的文章
[Zhang, M. Y.]的文章
[Zhou, M.]的文章
[Liu, H.]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Friction compensation and observer-based adapt.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。