| Issue |
E3S Web Conf.
Volume 268, 2021
2020 6th International Symposium on Vehicle Emission Supervision and Environment Protection (VESEP2020)
|
|
|---|---|---|
| Article Number | 01069 | |
| Number of page(s) | 11 | |
| DOI | https://doi.org/10.1051/e3sconf/202126801069 | |
| Published online | 11 June 2021 | |
The switching control strategy of redundant electromechanical servo system based on the compound sliding mode control
Laboratory of Aerospace Servo Actuation and Transmission, Beijing 100076, China
* Corresponding author: 18686800261@163.com
Aiming to resolve the limitations of robustness and stability in switching working modes of dual redundancy electric servo system, a control strategy based on sliding mode control is suggested. By analyzing the electromechanical servo system’s basic structure and working theory, a mathematical model is created to enable the design of new control functions. Taking into account the influence of the internal parameter perturbation of the electromechanical servo system during the switching between working modes, the sliding mode control is used to enhance system robustness, and the method of combining the latest saturation function and the exponential reaching law is used to minimize the system chattering. The simulation results and analysis show that the control strategy can effectively improve the robustness and control accuracy of the system.
Key words: sliding mode control / redundancy / active-active mode
© The Authors, published by EDP Sciences, 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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