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Oscillation design of sampling proportional-derivative sliding-mode systems for linear plants with hysteresis
Shen, Yu; Su S(苏顺)
Department机器人学研究室
Source PublicationADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
2016
Volume8Issue:11Pages:1-12
Indexed BySCI
WOS IDWOS:000389440400008
Contribution Rank2
Funding OrganizationTalent Introduction Project of Southwest University [SWU116001]
KeywordSampling Sliding-mode System Describing Function Method Oscillation Robustness Hysteresis Compensation
Abstract

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.

Language英语
WOS HeadingsScience & Technology ; Physical Sciences ; Technology
WOS SubjectThermodynamics ; Engineering, Mechanical
WOS KeywordFREQUENCY-DOMAIN ; CONTROLLERS ; DYNAMICS
WOS Research AreaThermodynamics ; Engineering
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19732
Collection机器人学研究室
Corresponding AuthorShen, Yu
Affiliation1.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
Recommended Citation
GB/T 7714
Shen, Yu,Su S. 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 S.(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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