TY - GEN
T1 - Adaptive sliding mode control on inner axis for high precision flight motion simulator
AU - Fu, Yongling
AU - Niu, Jianjun
AU - Wang, Yan
PY - 2008
Y1 - 2008
N2 - Discrete adaptive sliding mode control (ASMC) with exponential reaching law is proposed to alleviate the influence of the factors such as the periodical fluctuation torque of motor, nonlinear friction, and other disturbance which will deteriorate the tracking performance of a DC torque motor driven inner axis for a high precision flight motion simulator, considering the limited compensating ability of the ASMC for these uncertainty, an equivalent friction advance compensator based on Stribeck model is also presented for extra-low speed servo of the system. Firstly, the way direct using the available parts of the inner axis itself to ascertain the parameters for Stribeck model is listed. Secondly, adaptive approach is used to overcome the difficulty of choice the key parameter for exponential reaching law, and the stability of the algorithm is analyzed. Lastly, comparable experiments are carried out to verify the valid of the combined approach. The experiments results show with a stable 0.00006°/s speed response, 95% of time the tracking error is within 0.0002°, other servos such as sine wave tracking are also with high precision.
AB - Discrete adaptive sliding mode control (ASMC) with exponential reaching law is proposed to alleviate the influence of the factors such as the periodical fluctuation torque of motor, nonlinear friction, and other disturbance which will deteriorate the tracking performance of a DC torque motor driven inner axis for a high precision flight motion simulator, considering the limited compensating ability of the ASMC for these uncertainty, an equivalent friction advance compensator based on Stribeck model is also presented for extra-low speed servo of the system. Firstly, the way direct using the available parts of the inner axis itself to ascertain the parameters for Stribeck model is listed. Secondly, adaptive approach is used to overcome the difficulty of choice the key parameter for exponential reaching law, and the stability of the algorithm is analyzed. Lastly, comparable experiments are carried out to verify the valid of the combined approach. The experiments results show with a stable 0.00006°/s speed response, 95% of time the tracking error is within 0.0002°, other servos such as sine wave tracking are also with high precision.
KW - Adaptive sliding mode control
KW - Advance friction compensation
KW - DC torque motor
KW - Flight motion simulator
KW - Stribeck model
UR - https://www.scopus.com/pages/publications/56249115920
U2 - 10.1117/12.806867
DO - 10.1117/12.806867
M3 - 会议稿件
AN - SCOPUS:56249115920
SN - 9780819473622
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Seventh International Symposium on Instrumentation and Control Technology
T2 - 7th International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment
Y2 - 10 October 2008 through 13 October 2008
ER -