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Oscillation design of sampling proportional-derivative sliding-mode systems for linear plants with hysteresis
Shen, Yu; Su, Shun
作者部门机器人学研究室
关键词Sampling Sliding-mode System Describing Function Method Oscillation Robustness Hysteresis Compensation
发表期刊ADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
2016
卷号8期号:11页码:1-12
收录类别SCI
WOS记录号WOS:000389440400008
产权排序2
资助机构Talent Introduction Project of Southwest University [SWU116001]
摘要This article deals with the self-sustained oscillation appearing in the sliding-mode system. The oscillation provides considerable robust performance and, meanwhile, leads to detrimental effects such as the reduced control precision, mechanical wear, and resonance. A graphical method is introduced to design the sliding-mode controller with proportional-derivative terms. The method indicates how to determine the proportional-derivative coefficients and the desired oscillation frequency and amplitude for the stability of systems. The analysis shows that the zero-order holder plays an important role in the robustness of systems which can be improved by shorter sampling periods. The influences of the hysteresis on the oscillations are also discussed, and a method of tuning the coefficients of proportional-derivative terms is used to compensate the hysteresis. The first simulation shows the design processes of the graphical method in a specific system, and the second simulation confirms the validity of the method of hysteresis compensation. The design process is also demonstrated via the experiment on an inverted pendulum.
语种英语
WOS标题词Science & Technology ; Physical Sciences ; Technology
WOS类目Thermodynamics ; Engineering, Mechanical
关键词[WOS]FREQUENCY-DOMAIN ; CONTROLLERS ; DYNAMICS
WOS研究方向Thermodynamics ; Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19732
专题机器人学研究室
通讯作者Shen, Yu
作者单位1.School of Computer and Information Science, Southwest University, Chongqing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
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GB/T 7714
Shen, Yu,Su, Shun. Oscillation design of sampling proportional-derivative sliding-mode systems for linear plants with hysteresis[J]. ADVANCES IN MECHANICAL ENGINEERING,2016,8(11):1-12.
APA Shen, Yu,&Su, Shun.(2016).Oscillation design of sampling proportional-derivative sliding-mode systems for linear plants with hysteresis.ADVANCES IN MECHANICAL ENGINEERING,8(11),1-12.
MLA Shen, Yu,et al."Oscillation design of sampling proportional-derivative sliding-mode systems for linear plants with hysteresis".ADVANCES IN MECHANICAL ENGINEERING 8.11(2016):1-12.
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