Aiming at the problem that the traditional control strategy of permanent magnet synchronous motor(PMSM)for electric vehicles has low control performance,a novel adaptive non-singular fast terminal sliding mode control...Aiming at the problem that the traditional control strategy of permanent magnet synchronous motor(PMSM)for electric vehicles has low control performance,a novel adaptive non-singular fast terminal sliding mode control(ANFTSMC)model predictive torque control(MPTC)strategy is proposed.A new adaptive exponential approach rate is designed,and the traditional switching function sgn()is replaced by the hyperbolic tangent function tanh().A new ANFTSMC with extended state observer(ESO)is constructed as the speed regulator of the system,and ESO can observe disturbances.This improved method weakens chattering and improves the robustness of the system.To realize sensorless control of the speed control system,an ESO speed observer based on tanh(Fal)is constructed.Compared with the traditional ESO based on Fal function,the observation error is smaller,and the observation accuracy is higher.Finally,aiming at the model predictive torque control strategy used,a new objective function construction method is proposed,which avoids the design of weight coefficient,and the traditional voltage vector selection method is improved and optimized,which reduces the calculation amount of the algorithm.展开更多
A finite-time adaptive sliding mode controller is designed to improve the trajectory tracking capability of a quadrotor unmanned aerial vehicle(UAV)in the presence of model uncertainties and unmodeled external disturb...A finite-time adaptive sliding mode controller is designed to improve the trajectory tracking capability of a quadrotor unmanned aerial vehicle(UAV)in the presence of model uncertainties and unmodeled external disturbances.By applying adaptive nonsingular fast terminal sliding mode control(ANFTSMC)to the quadrotor UAV system,rapid response,finite-time convergence,and high-precision steady-state control are achieved under uncertainties and external disturbances,while also avoiding singularities and reducing the effect of chattering.Furthermore,the adaptive strategy is designed to estimate the upper bounds of model uncertainties and external disturbances without requiring prior bounded information.The finite-time convergence capability of the system is rigorously analyzed using the Lyapunov stability framework.Extensive simulation studies and experimental validations collectively demonstrate the efficacy of the designed control scheme.Notably,stable flight in the presence of wind disturbances and control of the contact force in experiments with wind turbine blades underscore the applicability of the strategy for achieving reliable quadrotor UAV operations in complex environments.展开更多
基金Project of National Natural Science Foundation of China(No.61863023)。
文摘Aiming at the problem that the traditional control strategy of permanent magnet synchronous motor(PMSM)for electric vehicles has low control performance,a novel adaptive non-singular fast terminal sliding mode control(ANFTSMC)model predictive torque control(MPTC)strategy is proposed.A new adaptive exponential approach rate is designed,and the traditional switching function sgn()is replaced by the hyperbolic tangent function tanh().A new ANFTSMC with extended state observer(ESO)is constructed as the speed regulator of the system,and ESO can observe disturbances.This improved method weakens chattering and improves the robustness of the system.To realize sensorless control of the speed control system,an ESO speed observer based on tanh(Fal)is constructed.Compared with the traditional ESO based on Fal function,the observation error is smaller,and the observation accuracy is higher.Finally,aiming at the model predictive torque control strategy used,a new objective function construction method is proposed,which avoids the design of weight coefficient,and the traditional voltage vector selection method is improved and optimized,which reduces the calculation amount of the algorithm.
基金supported by the Guangdong Province Basic and Applied Basic Research Fund Project(Grant No.2024A1515240062)the Key R&D Program of Jiangxi Province(Grant No.20243BBG71017)+1 种基金the National Natural Science Foundation of China(Grant No.62463020)the Teaching Reform Project of Changsha University of Science and Technology(Grant No.XJG24-048)。
文摘A finite-time adaptive sliding mode controller is designed to improve the trajectory tracking capability of a quadrotor unmanned aerial vehicle(UAV)in the presence of model uncertainties and unmodeled external disturbances.By applying adaptive nonsingular fast terminal sliding mode control(ANFTSMC)to the quadrotor UAV system,rapid response,finite-time convergence,and high-precision steady-state control are achieved under uncertainties and external disturbances,while also avoiding singularities and reducing the effect of chattering.Furthermore,the adaptive strategy is designed to estimate the upper bounds of model uncertainties and external disturbances without requiring prior bounded information.The finite-time convergence capability of the system is rigorously analyzed using the Lyapunov stability framework.Extensive simulation studies and experimental validations collectively demonstrate the efficacy of the designed control scheme.Notably,stable flight in the presence of wind disturbances and control of the contact force in experiments with wind turbine blades underscore the applicability of the strategy for achieving reliable quadrotor UAV operations in complex environments.
