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- Title
上海理工大学 光电信息与计算机工程学院,上海 200093.
- Authors
刘文景; 章国宝; 刘宇恒
- Abstract
In view of the nonlinear problem of backlash caused by the gear transmission structure in the automatic pipe pile welding machine, an improved sliding mode controller design method based on the extended state observer is proposed. Firstly, the nonlinear and time-varying backlash model is equivalent to a global linearization model, and it is proved that the upper limit of the modeling error is bounded. For the situation with nonlinear input backlash and unknown external disturbance, a sliding mode controller and an improved sliding mode controller based on extended state observer are designed, respectively. The former can track the input signal asymptotically and stably, and has strong anti-interference ability, but it has large chattering. The latter uses the extended state observer to detect the unknown disturbance and directly compensates to the controller, which not only ensures the tracking error within the expected accuracy range, but also reduces chattering. The simulation results show that compared with the traditional sliding mode controller, the improved sliding mode controller system based on the extended state observer reaches the sliding mode surface faster and chatters less.
- Subjects
AUTOMATIC automobile transmissions; SLIDING mode control; NONLINEAR equations; BACKLASH (Engineering); ROBOTIC welding
- Publication
Electronic Science & Technology, 2023, Vol 36, Issue 6, p1
- ISSN
1007-7820
- Publication type
Article
- DOI
10.16180/j.cnki.issn1007-7820.2023.06.001