[1]邹权,钱林方,徐亚栋,等.旋转弹仓的自适应模糊滑模控制[J].东南大学学报(自然科学版),2015,45(1):63-68.[doi:10.3969/j.issn.1001-0505.2015.01.012]
 Zou Quan,Qian Linfang,Xu Yadong,et al.Adaptive fuzzy sliding mode control of rotational shell magazine[J].Journal of Southeast University (Natural Science Edition),2015,45(1):63-68.[doi:10.3969/j.issn.1001-0505.2015.01.012]
点击复制

旋转弹仓的自适应模糊滑模控制()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
45
期数:
2015年第1期
页码:
63-68
栏目:
自动化
出版日期:
2015-01-20

文章信息/Info

Title:
Adaptive fuzzy sliding mode control of rotational shell magazine
作者:
邹权1钱林方1徐亚栋1蒋清山1杨会东2
1南京理工大学机械工程学院, 南京210094; 2北方自动化技术研究所, 太原030006
Author(s):
Zou Quan1 Qian Linfang1 Xu Yadong1 Jiang Qingshan1 Yang Huidong2
1School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
2North Automatic Control Technology Institute, Taiyuan 030006, China
关键词:
模糊逻辑 滑模控制 自适应调整 旋转弹仓
Keywords:
fuzzy logic sliding mode control adaptive tuning rotational shell magazine
分类号:
TP273
DOI:
10.3969/j.issn.1001-0505.2015.01.012
摘要:
针对存在啮合冲击、非线性摩擦以及参数大范围变化的旋转弹仓的位置控制问题,提出了一种自适应模糊滑模控制算法.该算法由2个模糊系统组成,分别用于逼近未知的理想控制律和补偿逼近误差,不需要知道系统的数学模型,具有较好的鲁棒性.在模糊逼近系统中,引入自适应算法在线调整模糊系统参数,改善了控制性能,提高了鲁棒性;在模糊补偿系统中,根据滑模变量调整控制作用,保证了滑模条件,削弱了抖振.空载、半载和满载3种情况下的实验结果表明,所提出的自适应模糊滑模控制算法对旋转弹仓的参数变化、啮合冲击以及非线性摩擦等不敏感,具有较高的控制精度.
Abstract:
An adaptive fuzzy sliding mode control scheme is proposed for the precision position control of rotational shell magazine with meshing impact, large nonlinear friction and wide variations of parameters, etc. The proposed scheme is composed of two fuzzy systems, which are utilized to approximate the unknown ideal control effort and compensate for the approximation error, respectively. Thus, the mathematical model of the shell magazine system does not need to be known and the robustness is good. In the fuzzy approximation system, adaptive mechanism is introduced to online tune the parameters of the fuzzy system, thus the control performance is improved and the robustness is also enhanced. In the fuzzy compensation system, the control effort is auto-tuned according to the sliding variable, then the existence of sliding mode is guaranteed and the chattering phenomenon is reduced. Experimental results under three conditions, i.e., empty-loaded, half-loaded and full-loaded, show that the proposed adaptive fuzzy sliding mode control scheme is insensitive to parameter variations, meshing impact and large nonlinear friction etc. Moreover, the position precision is high.

参考文献/References:

[1] 侯保林,马建伟. 链式自动化弹仓的最优保性能控制算法[J]. 兵工学报,2009,30(9):1164-1169.
  Hou Baolin, Ma Jianwei. Optimal guaranteed cost control algorithm for automatic chain shell magazine [J]. Acta Armamentarii, 2009, 30(9): 1164-1169.(in Chinese)
[2] 马建伟,郭治,侯保林. 旋转弹仓的鲁棒控制器设计[J]. 火力与指挥控制,2006,31(10):15-18.
  Ma Jianwei, Guo Zhi, Hou Baolin. Robust controller design for mechanized eddy magazine[J]. Fire Control and Command Control, 2006, 31(10): 15-18.(in Chinese)
[3] 张碧陶,皮佑国. 基于分数阶滑模控制技术的永磁同步电机控制[J]. 控制理论与应用,2012,29(9):1194-1198.
  Zhang Bitao, Pi Youguo. Fractional order sliding-mode control for permanent magnet synchronous motor [J]. Control Theory & Applications, 2012, 29(9): 1194-1198.(in Chinese)
[4] Qi Liang, Shi Hongbo. Adaptive position tracking control of permanent magnet synchronous motor based on RBF fast terminal sliding mode control [J]. Neurocomputing, 2013, 115: 23-30.
[5] Xu Dezhi, Jiang Bin, Qian Moshu, et al. Terminal sliding mode control using adaptive fuzzy-neural observer [J]. Mathematical Problems in Engineering, 2013, 2013: 958958-01-958958-08.
[6] Reza Shahnazi, Hasan Modir Shaneci, Naser Pariz. Position control of induction and DC servermotors: a novel adaptive fuzzy PI sliding mode control [J]. IEEE Transactions on Energy Conversion, 2008, 23(1): 138-147.
[7] Wai R J, Lin C M, Hsu C F. Adaptive fuzzy sliding mode control for electrical servo drive [J]. Fuzzy Sets and Systems, 2004, 143(2): 295-310.
[8] Lin C M, Hsu C F. Adaptive fuzzy sliding mode control for induction servomotor systems [J]. IEEE Transactions on Energy Conversion, 2004, 19(2): 362-368.
[9] Wai R J, Su K H. Adaptive enhanced fuzzy sliding-mode control for electrical servo drive [J]. IEEE Transactions on Industrial Electronics, 2006, 53(2): 569-580.
[10] Chaoui H, Sicard P. Adaptive fuzzy logic control of permanent magnet synchronous machines with nonlinear friction [J]. IEEE Transactions on Industrial Electronics, 2012, 59(2): 1123-1133.
[11] Nekoukar V, Erfanian A. Adaptive fuzzy terminal sliding mode control for a class of MIMO uncertain nonlinear systems [J]. Fuzzy Sets and Systems, 2011, 179(1): 34-49.
[12] Wai R J. Fuzzy sliding mode control using adaptive tuning technique [J]. IEEE Transactions on Industrial Electronics, 2007, 54(1): 586-594.
[13] Li Yangmin, Xu Qingsong. Adaptive sliding mode control with perturbation estimation and PID sliding surface for motion tracking of a piezo-driven micromnipulaor [J]. IEEE Transaction on Control Systems Technology, 2010, 18(4): 798-810.
[14] Chao Ying. Sufficient conditions on general fuzzy systems as function approximators [J]. Automatica, 1994, 30(3): 521-525.
[15] Kosko B. Fuzzy systems are universal approximators [J]. IEEE Transactions on Computers, 1994, 43(11):1329-1333.
[16] Yao Bin,Chang Jiang. Advanced motion control: from classical PID to nonlinear adaptive robust control [C]// The 11th IEEE International Workshop on Advanced Motion Control. Nagaoka, Japan, 2010:815-829.
[17] Chen Zheng, Yao Bin, Wang Qingfeng. Accurate motion control of linear motors with adaptive robust compensation of nonlinear electromagnetic field effect [J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(3): 1122-1129.

相似文献/References:

[1]陈建松,陈南,殷国栋,等.考虑非线性特征的4WS车辆滑模鲁棒稳定性控制[J].东南大学学报(自然科学版),2010,40(5):969.[doi:10.3969/j.issn.1001-0505.2010.05.017]
 Chen Jiansong,Chen Nan,Yin Guodong,et al.Sliding-mode robust control for 4WS vehicle based on non-linear characteristic[J].Journal of Southeast University (Natural Science Edition),2010,40(1):969.[doi:10.3969/j.issn.1001-0505.2010.05.017]
[2]达飞鹏,宋文忠.一类非线性系统的直接自适应控制[J].东南大学学报(自然科学版),1998,28(2):124.[doi:10.3969/j.issn.1001-0505.1998.02.024]
 Da Feipeng,Song Wenzhong.Direct Adaptive Control for a Class of Nonlinear Systems[J].Journal of Southeast University (Natural Science Edition),1998,28(1):124.[doi:10.3969/j.issn.1001-0505.1998.02.024]
[3]曹文明,胡克定,宋文忠.模糊集值产生式系统的启发式图搜索算法[J].东南大学学报(自然科学版),1996,26(4):39.[doi:10.3969/j.issn.1001-0505.1996.04.008]
 Cao Wenming,Hu Keding,Song Wenzhong.Heuristic Graph Search Algorithm on Fuzzy Interval Production System[J].Journal of Southeast University (Natural Science Edition),1996,26(1):39.[doi:10.3969/j.issn.1001-0505.1996.04.008]
[4]颜俊,吴乐南.基于模糊逻辑的数字滤波器设计[J].东南大学学报(自然科学版),2011,41(2):215.[doi:10.3969/j.issn.1001-0505.2011.02.001]
 Yan Jun,Wu Lenan.Digital filter design via fuzzy logic[J].Journal of Southeast University (Natural Science Edition),2011,41(1):215.[doi:10.3969/j.issn.1001-0505.2011.02.001]
[5]卫明,达飞鹏.非线性关联大系统分散自适应滑模控制研究[J].东南大学学报(自然科学版),2001,31(5):110.[doi:10.3969/j.issn.1001-0505.2001.05.024]
 Wei Ming,Da Feipeng.Decentralized Sliding Mode Adaptive Controller Design for Large-Scale Interconnected Nonlinear Systems[J].Journal of Southeast University (Natural Science Edition),2001,31(1):110.[doi:10.3969/j.issn.1001-0505.2001.05.024]

备注/Memo

备注/Memo:
收稿日期: 2014-07-28.
作者简介: 邹权(1987—),男,博士生;钱林方(联系人),男,博士,教授,博士生导师,lfqian@vip.163.com.
基金项目: 国家基础科研资助项目(A2620133003).
引用本文: 邹权,钱林方,徐亚栋,等.旋转弹仓的自适应模糊滑模控制[J].东南大学学报:自然科学版,2015,45(1):63-68. [doi:10.3969/j.issn.1001-0505.2015.01.012]
更新日期/Last Update: 2015-01-20