Novel Integral Sliding Mode Control Based On High Order Observer And Its Application

With the development of the control system,the controller designed for the corresponding system is widely used in all kinds of equipment and instruments,such as UAV,motor,spacecraft and other equipment and instruments.The control system makes the equipment and instruments more automatic.However,as the system is often subjected to unmeasurable interference,the controller often fails to achieve the desired effect.For the control system of permanent magnet synchronous motor,due to the measurement error of inductance,rotational inertia,flux constant and other parameters,the external interference such as loss and external load in the process of use will lead to the control system effect of permanent magnet synchronous motor greatly reduced or can not reach the target speed.For the control system of UAV,due to the measurement error of rotational inertia,weight,moment arm and other parameters or external interference such as wind blowing,UAV can not reach the target attitude Angle or target position,or even out of control.The control and application research based on high order observer can help these systems to better observe the disturbance,so that the corresponding control system can obtain better results in operation.Based on the above problems,a novel integrated sliding mode control system based on high order observer and its application are studied in this paper.An integral sliding mode controller based on high order observer is designed for PMSM system.A novel integral sliding mode controller based on high order observer is designed for the trajectory tracking system of quadrotor UAV.Aiming at the attitude system of quadrotor UAV,a hard-in-the-loop simulation platform of UAV was built,and a new integral sliding mode controller based on high order observer was applied to the UAV.The main research contents and achievements are as follows:Integrated sliding mode control of permanent magnet synchronous motor system based on high order observer is studied.An integral sliding mode controller based on high order observer is designed for PMSM system.The design process and stability proof process of integral sliding mode controller and high order observer are given.Through Matlab simulation,the corresponding current loop and speed loop control curve and the corresponding error graph,as well as the disturbance observer observation curve and the corresponding error graph,proved that the high order observer based permanent magnet synchronous motor system controller has a good control effect.A novel integral sliding mode control for quadrotor UAV system based on high order observer is studied.Aiming at the attitude system of quadrotor UAV,a new integral sliding mode controller based on high order observer was designed.The design process and stability proof process of attitude controller and high order observer of quadrotor UAV are given.The new integral sliding mode controller for position tracking system of quadrotor UAV based on high order observer is proved to have good control effect.The application of a novel integral sliding mode controller for quadrotor UAV system based on high order observer is studied.Set up four UAV rotorcraft semi-physical simulation platform,based on high order observer of four rotor unmanned aerial vehicle(UAV)attitude system controller applied to the turntable,get the target Angle and Angle of the actual curve and the corresponding error curve,to prove that four rotor unmanned aerial vehicle(UAV)attitude system based on high order observer controller has good control effect.