Low speed servo control for single Gimbal control moment gyros using back-stepping time-varying sliding model control

Single Gimbal Control moment gyroscope(SGCMG) is a typical servo system application and has a broad prospect in spacecraft attitude adjustment. In order to optimize the performance of SGCMG outer frame servo system on smooth speed, position tracking and robustness, a nonlinear servo control algorithm for the permanent-magnet synchronous motor(PMSM) system using back-stepping adaptive switch gain time-varying sliding mode control(SMC) is designed in this paper. First, a time-varying SMC approach based on back-stepping and adaptive switch gain is presented. The time-varying sliding mode controller refresh the slide surface, and the switch gain of controller is adaptively changed. Then, a SMC disturbance observer is proposed to reduce the impact of load torque and coefficient disturbance on the control system. Simulation results show the validity of the proposed control method.

[1]  Ming Lu,et al.  High precision control design for SGCMG gimbal servo system , 2015, 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[2]  Gao Jun-wei.  Adaptive fuzzy backstepping position tracking control for permanent magnet synchronous motor , 2010 .

[3]  Gérard-André Capolino,et al.  Fuzzy Logic and Sliding-Mode Controls Applied to Six-Phase Induction Machine With Open Phases , 2010, IEEE Transactions on Industrial Electronics.

[4]  Jianbin Qiu,et al.  A Combined Adaptive Neural Network and Nonlinear Model Predictive Control for Multirate Networked Industrial Process Control , 2016, IEEE Transactions on Neural Networks and Learning Systems.

[5]  Jun Yang,et al.  Non-linear disturbance observer-based back-stepping control for airbreathing hypersonic vehicles with mismatched disturbances , 2014 .

[6]  Wei Zheng,et al.  Ultra-low speed control strategy for SGCMG gimbal servo system , 2014, The 26th Chinese Control and Decision Conference (2014 CCDC).

[7]  Bo Zhou,et al.  Sliding mode control of PMSM based on a novel disturbance observer , 2009, 2009 4th IEEE Conference on Industrial Electronics and Applications.

[8]  Cheng Guan,et al.  Adaptive time-varying sliding mode control for hydraulic servo system , 2004, ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004..

[9]  Sun Li,et al.  A PMSM sliding mode control system based on a novel reaching law , 2011, 2011 International Conference on Electrical Machines and Systems.

[10]  Zongxia Jiao,et al.  Adaptive Robust Control of DC Motors With Extended State Observer , 2014, IEEE Transactions on Industrial Electronics.

[11]  Yungang Liu,et al.  Barbalat Lemma and its application in analysis of system stability , 2007 .

[12]  Yean-Ren Hwang,et al.  A study on tracking position control of an pneumatic system by backstepping design , 2010, 2010 11th International Conference on Control Automation Robotics & Vision.

[13]  Sundarapandian Vaidyanathan,et al.  Hyperchaos, adaptive control and synchronization of a novel 5-D hyperchaotic system with three positive Lyapunov exponents and its SPICE implementation , 2014 .

[14]  B. Wie,et al.  Singularity Robust Steering Logic for Redundant Single-Gimbal Control Moment Gyros , 2000 .