The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer
This article proposes a servo control strategy for compensating matched and mismatched perturbations in flexible ball screw feed systems to improve their tracking performance. The perturbations that satisfy or dissatisfy the matching conditions include external disturbances, parameter uncertainties,...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-10-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/12/10/387 |
| _version_ | 1797575102824448000 |
|---|---|
| author | Muzhi Zhu Dafei Bao Xingrong Huang |
| author_facet | Muzhi Zhu Dafei Bao Xingrong Huang |
| author_sort | Muzhi Zhu |
| collection | DOAJ |
| description | This article proposes a servo control strategy for compensating matched and mismatched perturbations in flexible ball screw feed systems to improve their tracking performance. The perturbations that satisfy or dissatisfy the matching conditions include external disturbances, parameter uncertainties, and unmodeled dynamics. The flexible ball screw feed model includes both a rigid body and first-order axial structural dynamics. A generalized extended state observer is adopted to observe the matched and mismatched perturbations and various state variables of the system, and an improved integral sliding mode controller is proposed that can simultaneously compensate for the perturbations of the system that satisfy and dissatisfy the matching conditions. In addition, vibration compensation is designed for first-order axial vibration of the system to develop a controller that can quickly and accurately track the ideal reference trajectory, suppress system structural vibrations, and be robust to time-varying uncertainties and external disturbances. Finally, the tracking performance, anti-interference performance, and vibration suppression performance of the designed controller are verified via simulation and comparative experiments. |
| first_indexed | 2024-03-10T21:32:38Z |
| format | Article |
| id | doaj.art-ad7c89850f864d1bacd92cfe15ce4472 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T21:32:38Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-ad7c89850f864d1bacd92cfe15ce44722023-11-19T15:16:20ZengMDPI AGActuators2076-08252023-10-01121038710.3390/act12100387The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State ObserverMuzhi Zhu0Dafei Bao1Xingrong Huang2School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, ChinaJiangsu Mingzhu Testing Machinery Co., Ltd., Yangzhou 225000, ChinaSchool of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, ChinaThis article proposes a servo control strategy for compensating matched and mismatched perturbations in flexible ball screw feed systems to improve their tracking performance. The perturbations that satisfy or dissatisfy the matching conditions include external disturbances, parameter uncertainties, and unmodeled dynamics. The flexible ball screw feed model includes both a rigid body and first-order axial structural dynamics. A generalized extended state observer is adopted to observe the matched and mismatched perturbations and various state variables of the system, and an improved integral sliding mode controller is proposed that can simultaneously compensate for the perturbations of the system that satisfy and dissatisfy the matching conditions. In addition, vibration compensation is designed for first-order axial vibration of the system to develop a controller that can quickly and accurately track the ideal reference trajectory, suppress system structural vibrations, and be robust to time-varying uncertainties and external disturbances. Finally, the tracking performance, anti-interference performance, and vibration suppression performance of the designed controller are verified via simulation and comparative experiments.https://www.mdpi.com/2076-0825/12/10/387ball screw feed systemmatched and mismatched perturbationsgeneralized extended state observerintegral sliding mode controllervibration compensation |
| spellingShingle | Muzhi Zhu Dafei Bao Xingrong Huang The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer Actuators ball screw feed system matched and mismatched perturbations generalized extended state observer integral sliding mode controller vibration compensation |
| title | The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer |
| title_full | The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer |
| title_fullStr | The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer |
| title_full_unstemmed | The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer |
| title_short | The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer |
| title_sort | design of a tracking controller for flexible ball screw feed system based on integral sliding mode control with a generalized extended state observer |
| topic | ball screw feed system matched and mismatched perturbations generalized extended state observer integral sliding mode controller vibration compensation |
| url | https://www.mdpi.com/2076-0825/12/10/387 |
| work_keys_str_mv | AT muzhizhu thedesignofatrackingcontrollerforflexibleballscrewfeedsystembasedonintegralslidingmodecontrolwithageneralizedextendedstateobserver AT dafeibao thedesignofatrackingcontrollerforflexibleballscrewfeedsystembasedonintegralslidingmodecontrolwithageneralizedextendedstateobserver AT xingronghuang thedesignofatrackingcontrollerforflexibleballscrewfeedsystembasedonintegralslidingmodecontrolwithageneralizedextendedstateobserver AT muzhizhu designofatrackingcontrollerforflexibleballscrewfeedsystembasedonintegralslidingmodecontrolwithageneralizedextendedstateobserver AT dafeibao designofatrackingcontrollerforflexibleballscrewfeedsystembasedonintegralslidingmodecontrolwithageneralizedextendedstateobserver AT xingronghuang designofatrackingcontrollerforflexibleballscrewfeedsystembasedonintegralslidingmodecontrolwithageneralizedextendedstateobserver |