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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (5): 323683-323683.doi: 10.7527/S1000-6893.2020.23683

• Electronics and Electrical Engineering and Control • Previous Articles     Next Articles

Backstepping sliding mode control of electric dynamic load simulator based on extended state observer

DAI Mingguang, QI Rong   

  1. School of Automation, Northwestern Polytechnical University, Xi'an 710129, China
  • Received:2019-11-26 Revised:2020-01-02 Online:2020-05-15 Published:2020-02-21
  • Supported by:
    National Natural Science Foundation of China (51777170);Aeronautical Science Foundation of China (20162853026)

Abstract: A backstepping sliding mode control strategy based on an extended state observer is proposed to solve the problem of uncertain disturbance such as strong position disturbance, friction nonlinearity, backlash nonlinearity and parameter time-varying in the electric dynamic load simulator. Based on the idea of back-stepping design strategy, the electric dynamic load simulator is decomposed into the loading torque subsystem and the permanent magnet synchronous motor drive subsystem. An extended state observer with a filter is then applied to the loading torque subsystem to eliminate the influence of measurement noise on the system and meanwhile estimate the external disturbance in the system. Next, the virtual control quantity corresponding to the loading torque subsystem is obtained by using the proportional approaching sliding mode control law. For the permanent magnet synchronous motor drive subsystem, the conventional extended state observer is used to estimate the complex disturbance in the subsystem, and the non-singular terminal sliding mode control law is adopted to eliminate the observation error and the influence of external disturbance on the system, obtaining the final control quantity required by the system. The stability of the electric dynamic load simulator is proved by Lyapunov method and the effectiveness of the proposed method is verified by the experiments.

Key words: electric dynamic load simulator, unknown disturbance, filter, extended state observer, backstepping sliding mode, non-singular terminal sliding mode

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