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Finite-time adaptive sliding mode force control for electro- hydraulic load simulator based on improved GMS friction model

机译：基于改进GMS摩擦模型的电液载荷模拟器有限时间自适应滑模力控制

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摘要

This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.
机译：本文研究了非线性摩擦和不确定扰动影响下的电动液压载荷模拟器的力跟踪问题。首先推导了非线性系统模型，并结合改进的广义麦克斯韦滑移（GMS）摩擦模型来更准确地描述负载模拟器系统的特性。然后，结合粒子群优化算法和系统滞后特性分析，确定了GMS摩擦参数。为了补偿非线性摩擦和不确定干扰，提出了一种基于精确系统模型的有限时间自适应滑模控制方法。该控制器具有确保系统状态在短时间内沿着非线性滑动表面运动到稳态以及在参数不确定性和干扰的影响下具有良好动态特性的能力，从而进一步提高了力加载的准确性和速度。在这项工作的最后，通过仿真和实验结果证明了所提出的滑模控制策略的有效性。

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  • 来源
    《Mechanical systems and signal processing》 |2018年第1期|117-138|共22页
  • 作者

    Shuo Kang; Hao Yan; Lijing Dong; Changchun Li;

  • 作者单位

    College of Mechanical Electronic and Control Engineering, Beijing JiaoTong University, Beijing 100044, China;

    College of Mechanical Electronic and Control Engineering, Beijing JiaoTong University, Beijing 100044, China,Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology (Beijing JiaoTong University), Ministry of Education, Beijing 100044, China;

    College of Mechanical Electronic and Control Engineering, Beijing JiaoTong University, Beijing 100044, China,Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology (Beijing JiaoTong University), Ministry of Education, Beijing 100044, China;

    College of Mechanical Electronic and Control Engineering, Beijing JiaoTong University, Beijing 100044, China,Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology (Beijing JiaoTong University), Ministry of Education, Beijing 100044, China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Electro-hydraulic load simulator; Force tracking; Improved GMS friction model; Finite-time adaptive sliding mode control;

    机译：电液负荷模拟器力跟踪;改进的GMS摩擦模型;有限时间自适应滑模控制;

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