Adaptive sliding mode control for the oscillation displacement system of continuous casting mold based on extended state observer

作者：Li, Jian-Xiong; Zhang, Wen-Bo; Zhang, Qi-Yu; Fang, Yi-Ming^*

来源：Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2019, 36(1): 120-128.

DOI：10.7641/CTA.2018.70490

• Adaptive gain
• Continuous casting mold
• Extended state observer
• Non-singular terminal sliding mode controls
• Oscillation displacements

The adaptive nonsingular terminal sliding mode (NTSM) control algorithm based on an extended state observer (ESO) is proposed for an oscillation displacement system of continuous casting mold driven by servo motor, in which there exists time-varying load torque disturbance, and parameter uncertainties, etc. Firstly, an ESO is constructed to estimate the total disturbance and the unmeasurable state. Secondly, a hierarchical control scheme is adopted, and an ESO-based adaptive NTSM controller and two sliding mode controllers are designed for the position tracking subsystem and current control subsystems, respectively. In order to reduce the effect of the ESO estimation error on the tracking accuracy, an adaptive gain is introduced in the NTSM controller. It can be proved that the all of the signals of the resulting closed-loop system are bounded, and the system states converge to a small neighborhood of the origin asymptotically. Finally, simulation results demonstrate the effectiveness of the proposed method.

• 出版日期2019-1-1