Jiang Chao, Yin Chengqiang, Gao Jie, Yuan Guanhao
School of Mechanical and Automobile Engineering, Liaocheng University, Liaocheng, China.
Sci Prog. 2022 Jan-Mar;105(1):368504221081966. doi: 10.1177/00368504221081966.
A modified sliding mode active disturbance rejection control (MSMADRC) position system is designed for small-sized tractors to solve the longer shift time and reduced shifting quality because of the inaccurately motor control used for the automatic mechanical transmission (AMT) gear shift actuator. Firstly, the control model of the motor with total disturbance is established. Then an extended observer is presented to monitor the unmodeled dynamics and various disturbances of the system in real time, at the same time the extended state and the system feedback variables are constructed as the system variables of the sliding mode control (SMC) algorithm. Secondly, a sliding mode surface instead of the nonlinear control law in the active disturbance rejection control (ADRC) algorithm is designed, which realizes the fast and accurate tracking of the position. What's more, the stability of the control system is proved by Lyapunov theory. Lastly, the simulation results demonstrate that the position control precision by MSMADRC is higher 37% than by SMC and higher 75% than by ADRC. Furthermore, the response speed of MSMADRC is the fastest, it only takes about 0.7s.
针对小型拖拉机设计了一种改进型滑模自抗扰控制（MSMADRC）位置系统，以解决自动机械变速器（AMT）换挡执行器电机控制不准确导致换挡时间延长和换挡质量下降的问题。首先，建立了含总扰动的电机控制模型。然后提出一种扩张观测器，实时监测系统的未建模动态和各种扰动，同时将扩张状态和系统反馈变量构建为滑模控制（SMC）算法的系统变量。其次，设计了一种滑模面替代自抗扰控制（ADRC）算法中的非线性控制律，实现了位置的快速精确跟踪。此外，利用李雅普诺夫理论证明了控制系统的稳定性。最后，仿真结果表明，MSMADRC的位置控制精度比SMC高37%，比ADRC高75%。此外，MSMADRC的响应速度最快，仅需约0.7秒。
