Free-chattering fractional order sliding mode control of integrated electro-hydraulic servo pump

被引：0
作者：
Yang R. [1 ]
Fu Y. [1 ]
Wang Y. [2 ]
Wang D. [1 ]
Guo J. [1 ]
Zhang L. [1 ]
机构：
[1] School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing
[2] School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing
来源：
Fu, Yongling (fuyongling@126.com) | 1649年 / Beijing University of Aeronautics and Astronautics (BUAA)卷 / 42期
基金：
中国国家自然科学基金;
关键词：
Disturbance observer; Fractional order; Free-chattering; Integrated electro-hydraulic servo pump (IEHSP); Sliding mode control;
D O I：
10.13700/j.bh.1001-5965.2015.0495
中图分类号：
学科分类号：
摘要：
Thanks to the special structure with the same rotor and housing shared by higher degree integrated servo motor and pump, integrated electro-hydraulic servo pump (IEHSP) has significant advantages in aspects of size, noise, efficiency, etc., and it has good application prospect. To improve IEHSP's speed regulation performance and anti-disturbance ability, a novel fractional order sliding mode controller (NFOSMC) is designed. First, the controller provides the system with more degrees of freedom because of introduction of fractional order calculus. Second, aimed at chattering problem of traditional sliding mode control, it is ensured that the fractional order integral action of switching term is included directly in the proposed controller, so that free-chattering sliding control can be achieved by utilizing its filtering property. Meanwhile, the finite time convergence stability is proved via Lyapunov theorem in presence of internal and external disturbance. Besides, the range of order for fractional order is extended due to the high order fractional differential term avoidance. To further enhance the ability of anti-disturbance, fractional order disturbance observer (FODOB) is proposed for observation and compensation of internal and external disturbance, so the response speed and stiffness of the controller is enhanced effectively. By comparison with PI, counterpart integer order sliding mode controller (IOSMC) and conventional fractional order sliding mode controller (CFOSMC), the simulation results indicate that NFOSMC based on FODOB can effectively improve the performance of speed tracking and the ability of disturbance rejection, and the effect of chattering elimination is remarkable. © 2016, Editorial Board of JBUAA. All right reserved.
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页码：1649 / 1658
页数：9
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