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- 저자 : Zhihu Wang (검색결과 2 건)
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Jinliang Zhang,Dunbin Zhu,Wei Jian,Wentao Hu,Guosheng Peng,Yufeng Chen,Zhihu Wang 한국자동차공학회 2024 International journal of automotive technology Vol.25 No.2
Aiming at the sensitivity problems of uncertain factors such as parameter variation, external disturbance and friction for thepermanent magnet synchronous motor control system of electric vehicle, a fractional order complementary non-singular terminalsliding mode control method based on neural network is proposed. The mathematical model of permanent magnet synchronousmotor with uncertain factors was established. The sliding mode controller was designed by combining the generalized slidingmode surface and the complementary sliding mode surface, which shortened the arrival time from the state trajectory to slidingmode surface. The fractional calculus operator with fi ltering characteristics was used to improve the position tracking accuracyand reduce the chattering. As for the variety of uncertain disturbances, the neural network was used to estimate the system totaluncertainty and compensate online to further improve the dynamic response ability and anti-interference ability. Finally, thesimulation results verify the eff ectiveness and feasibility of the proposed method, which can provide theoretical and technicalsupport for improving the control accuracy of permanent magnet synchronous motor and the development of electric vehicles.
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Enhance Transparency of Force Feedback Interaction Series Mechanism by SMC Strategy
Zhi Hu,Yueying Wang,Guohua Cui,Dan Zhang 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.7
To enhance the fidelity of virtual surgery, the force feedback interaction mechanism would simulatethe force information in real surgery. This paper first introduces evaluation methods of fidelity, then it exploresevaluation methods of force feedback fidelity, and put up the evaluation methods and indexes of force feedbackfidelity. In rigid force feedback interaction mechanism, fidelity is mainly shown as transparency. It means thetransfer function of the mechanism needs approach to 1, while friction, gravity, slip of the linear drive and otherfactors would affect transparency of the mechanism. This study introduces a 5-DOF (degree of freedom) forcefeedback series mechanism with long stroke. It discusses gravity compensation and simulation of typical virtualenvironment. It uses sliding mode control (SMC) to eliminate the effect of parameter variety, inaccurate modelingand other factors to improve system robustness. And it adds disturbance observer to the controller to eliminategravity inaccuracy. Finally, it evaluates the enhancement of force feedback fidelity.
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