This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance and the energy conservation by controlling the slip ratio of whee...This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance and the energy conservation by controlling the slip ratio of wheel. In this method, a robust sliding mode controller against the model uncertainties is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical simulations for one wheel model under variations in mass of vehicle and road condition are performed and demonstrated to show the effectiveness of the proposed method.展开更多
Piezoelectric-driven stick slip actuators have been drawn more and more attention in the nano- positioning application due to the high accuracy and theoretical unlimited displacement. However, the hysteresis of piezoe...Piezoelectric-driven stick slip actuators have been drawn more and more attention in the nano- positioning application due to the high accuracy and theoretical unlimited displacement. However, the hysteresis of piezoelectric actuator (PEA) and the nonlinear friction force between the end- effector and the stage make control of piezoelectric-driven stick slip actuator challenge. This paper presents the development of an autoregressive exogenous (ARX)-based proportional-integral-derive (PID)-sliding mode control (SMC) for the velocity tracking control of the piezoelectric-driven stick slip actuator. Stability is guaranteed by rigorously choosing the appropriate PID parameters and the zero steady state error is achieved. To verify the effectiveness of the proposed method, experiments were carried out on a commercially-available piezoelectric-driven stick slip actuator. The tracking errors were compared with the traditional PID controller, illustrating that in spite of existing of modeling error, the ARX-based PID-SMC is able to better improve the velocity tracking performance of piezoelectric-driven stick slip actuator, compared with the traditional PID controller.展开更多
飞机防滑刹车系统影响飞机降落过程的安全和舒适性。为了解决传统比例积分微分(proportional integral differential,PID)型防滑刹车控制器存在的平稳性差和抗干扰能力弱等问题,设计了基于改进积分滑模控制的防滑刹车控制器。首先,对飞...飞机防滑刹车系统影响飞机降落过程的安全和舒适性。为了解决传统比例积分微分(proportional integral differential,PID)型防滑刹车控制器存在的平稳性差和抗干扰能力弱等问题,设计了基于改进积分滑模控制的防滑刹车控制器。首先,对飞机防滑刹车系统进行动力学分析,建立飞机防滑刹车系统模型;然后,针对传统积分滑模控制的积分器存在积分饱和现象的问题,以滑移率为控制目标,改进积分滑模面,完成控制器的设计和仿真验证。仿真结果表明,改进积分滑模控制器不仅能使滑移率快速跟踪目标滑移率,具有较强的鲁棒性,而且能有效减弱控制器输出抖振,提高了飞机防滑刹车系统的性能。展开更多
文摘This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance and the energy conservation by controlling the slip ratio of wheel. In this method, a robust sliding mode controller against the model uncertainties is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical simulations for one wheel model under variations in mass of vehicle and road condition are performed and demonstrated to show the effectiveness of the proposed method.
文摘Piezoelectric-driven stick slip actuators have been drawn more and more attention in the nano- positioning application due to the high accuracy and theoretical unlimited displacement. However, the hysteresis of piezoelectric actuator (PEA) and the nonlinear friction force between the end- effector and the stage make control of piezoelectric-driven stick slip actuator challenge. This paper presents the development of an autoregressive exogenous (ARX)-based proportional-integral-derive (PID)-sliding mode control (SMC) for the velocity tracking control of the piezoelectric-driven stick slip actuator. Stability is guaranteed by rigorously choosing the appropriate PID parameters and the zero steady state error is achieved. To verify the effectiveness of the proposed method, experiments were carried out on a commercially-available piezoelectric-driven stick slip actuator. The tracking errors were compared with the traditional PID controller, illustrating that in spite of existing of modeling error, the ARX-based PID-SMC is able to better improve the velocity tracking performance of piezoelectric-driven stick slip actuator, compared with the traditional PID controller.
文摘飞机防滑刹车系统影响飞机降落过程的安全和舒适性。为了解决传统比例积分微分(proportional integral differential,PID)型防滑刹车控制器存在的平稳性差和抗干扰能力弱等问题,设计了基于改进积分滑模控制的防滑刹车控制器。首先,对飞机防滑刹车系统进行动力学分析,建立飞机防滑刹车系统模型;然后,针对传统积分滑模控制的积分器存在积分饱和现象的问题,以滑移率为控制目标,改进积分滑模面,完成控制器的设计和仿真验证。仿真结果表明,改进积分滑模控制器不仅能使滑移率快速跟踪目标滑移率,具有较强的鲁棒性,而且能有效减弱控制器输出抖振,提高了飞机防滑刹车系统的性能。
