| At present,mechanical and electrical products in the information,integration,high intelligence develop rapidly.High-tech will become the new elimination battlefield of mechanical and electrical products,and will become the leading force in the future.Especially,the development of electric drive control system improves the performance of high performance and high speed processors,and can realize complex and variable control algorithms.On the other hand,saturation characteristics generally appear in all kinds of control systems,such as actuators or some artificial limiting devices for safety.The input saturation problem makes the electromechanical system fundamentally unstable,which will seriously affect the performance of the driving system.It is necessary and practical to analyze the control of electromechanical system under saturation constraint.As is known to all,the port-controlled Hamiltonian(PCH)system has provided a unique method for the study of nonlinear systems,which can redescribe the physical system,reflect the internal energy characteristics of the system,and make complex dynamic system model more concise.In addition,the sum of energy storage of the actual system can be described by the Hamiltonian function.Therefore,the method based on the Hamiltonian framework is very suitable for the analysis and study of electromechanical systems.In this paper,the control design problems of PMSM system considering iron loss and voltage saturation and robotic system with uncertain parameters are studied respectively.The research contents of this paper are as follows:1)A Hamiltonian-based method for PMSM in electric vehicle considering iron loss and saturation.The control problem of permanent magnet synchronous motor(PMSM)is discussed in this paper.Both iron loss and voltage saturation are considered in the analysis process in order to close to the actual projects.A controller design method,which is called the Hamiltonian-based method,is proposed for the PMSM control system.The responses of each current component and speed are analyzed when load torque disturbance exists.The proposed controller enables the closed-loop system to have robust performance criteria without violating saturation.It is worth noting that a more general truncation-inequality technique is used to deal with saturation,which reduces the conservatism of parameter selection.In addition,the corresponding results are given for two special cases.When there is no saturation and no load torque disturbance,the system is asymptotically stable at the equilibrium point.Simulation results and experimental study show that the proposed method has good load disturbance suppression ability and can ensure the robust performance of the PMSM in EV driving systems.2)Adaptive fixed-time sliding mode tracking control for uncertain robotic manipulators with input saturation.An adaptive fixed-time sliding mode control strategy is presented for the tracking problem of 9)-link robotic manipulators with input saturation and uncertainties.Firstly,the unknown dynamic parameters and the bound vector of external disturbances are integrated into a compounded uncertainty.Then,a robust controller based on nonsingular fast terminal sliding mode is designed under the assumption that the upper boundary of the compounded uncertainty is precisely known.Considering that the boundary of compounded uncertainty is not readily available in practice,the adaptive radial basis function neural networks are adopted to compensate for compounded uncertainty of the manipulator.Moreover,in order to enhance the fast tracking capability and robustness of the controlled system,the nonsingular fast terminal sliding mode is merged into the control framework.The proposed controller in this paper can guarantee the actual trajectory track the desired reference trajectory within a fixed time while eliminating the influence of input saturation.At last,simulation results based on a two-joint manipulator confirm the excellent performance and effectiveness of the proposed approach. |
