Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification
To solve the problems of dynamic model parameter perturbation and external disturbances during the operation of the ball screw meta-action unit, an adaptive sliding mode control method based on disturbance compensation and inertia identification is proposed in this paper. First, a model of the ball...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2023/7731379 |
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| _version_ | 1850232035802611712 |
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| author | Hongyu Ge Cangfu Wang Chuanwei Zhang Manzhi Yang |
| author_facet | Hongyu Ge Cangfu Wang Chuanwei Zhang Manzhi Yang |
| author_sort | Hongyu Ge |
| collection | DOAJ |
| description | To solve the problems of dynamic model parameter perturbation and external disturbances during the operation of the ball screw meta-action unit, an adaptive sliding mode control method based on disturbance compensation and inertia identification is proposed in this paper. First, a model of the ball screw meta-action unit is established and the dynamic equation is derived. Taking into account the uncertainty of the dynamic parameters, a least squares method with a forgetting factor is introduced to identify the moment of inertia in real time, and the identification results are utilized to adaptively adjust the sliding mode control law. Second, a nonlinear disturbance observer is designed to effectively observe the load disturbance, and the observed value is substituted into the sliding mode control as feedforward compensation to improve the anti-interference ability of the controller. Committed to the chattering of traditional sliding mode control, an improved adaptive exponential sliding mode reaching law is exploited to construct a novel sliding mode controller, thereby suppressing the slid mode chattering more thoroughly. Finally, the superiority of the proposed method is verified by MATLAB/Simulink simulation and compared with the other two control methods; the control method proposed in this paper can effectively improve the tracking performance of the system and has good robustness. |
| format | Article |
| id | doaj-art-08a3307bbb8d447c975d485c4b567c81 |
| institution | OA Journals |
| issn | 1875-9203 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-08a3307bbb8d447c975d485c4b567c812025-08-20T02:03:19ZengWileyShock and Vibration1875-92032023-01-01202310.1155/2023/7731379Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia IdentificationHongyu Ge0Cangfu Wang1Chuanwei Zhang2Manzhi Yang3School of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringTo solve the problems of dynamic model parameter perturbation and external disturbances during the operation of the ball screw meta-action unit, an adaptive sliding mode control method based on disturbance compensation and inertia identification is proposed in this paper. First, a model of the ball screw meta-action unit is established and the dynamic equation is derived. Taking into account the uncertainty of the dynamic parameters, a least squares method with a forgetting factor is introduced to identify the moment of inertia in real time, and the identification results are utilized to adaptively adjust the sliding mode control law. Second, a nonlinear disturbance observer is designed to effectively observe the load disturbance, and the observed value is substituted into the sliding mode control as feedforward compensation to improve the anti-interference ability of the controller. Committed to the chattering of traditional sliding mode control, an improved adaptive exponential sliding mode reaching law is exploited to construct a novel sliding mode controller, thereby suppressing the slid mode chattering more thoroughly. Finally, the superiority of the proposed method is verified by MATLAB/Simulink simulation and compared with the other two control methods; the control method proposed in this paper can effectively improve the tracking performance of the system and has good robustness.http://dx.doi.org/10.1155/2023/7731379 |
| spellingShingle | Hongyu Ge Cangfu Wang Chuanwei Zhang Manzhi Yang Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification Shock and Vibration |
| title | Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification |
| title_full | Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification |
| title_fullStr | Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification |
| title_full_unstemmed | Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification |
| title_short | Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification |
| title_sort | sliding mode control of ball screw meta action unit based on disturbance compensation and inertia identification |
| url | http://dx.doi.org/10.1155/2023/7731379 |
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