Super-Twisting Sliding Mode Control Of R-AMD System

At present,active control technology is one of the research hotspots in the field of structural vibration control,which involves structural engineering,mechanical engineering,control engineering and other disciplines,and is a multidisciplinary cross frontier.Aiming at the problems of high energy consumption,large space occupation and high maintenance cost of active mass damper,the design of structural vibration control system based on Rotating Active Mass Damper(R-AMD)for R-AMD single degree of freedom(R-AMD/SDOF)structure coupled system is carried out in this paper.Firstly,based on Lagrangian equation,the dynamic models of counter-rotating birotor and single rotor R-AMD/SDOF structure coupled system are established respectively,and the equivalent characteristics of their mathematical models are proved.At the same time,based on global coordinate transformation,the system is transformed into a strict feedback cascade specification type,so as to reduce non-linearity of the system and facilitate the design of the system controller.Secondly,characteristics of R-AMD/SDOF structure coupled system are analyzed.According to the under-actuated characteristics of the system,a super-twisting sliding mode controller is designed,and the stability of the control algorithm is proved.The control algorithm needs few adjustable parameters,has simple structure and is easy to be applied in practical engineering.The effectiveness and robustness of this control algorithm are proved by digital simulation.Finally,real time simulation platform of R-AMD control system is built.Based on the combination and software compilation of dSPACE system,brushless DC motor and other components,the effectiveness of the proposed control algorithm is proved.Based on digital simulation and real time simulation,this paper proves the effectiveness of the " super-twisting sliding controller",as well as good performance such as "fast convergence speed,low torque demand,good robustness".R-AMD system has obvious restraint effect on the vibration of single degree frame structure,and the super-twisting sliding mode control algorithm mentioned in this paper has certain practical significance for a kind of under-actuated system control problems and civil structure vibration control problems.