Design of Synchronization Tracking Hierarchical Sliding Mode Control Strategy for Multiple Drives System
Based on hierarchical sliding mode control,a high performance nonlinear position synchronization tracking controller was proposed for the multiple motors system with physical constrains.The controller model of the servo-valve-controlled hydraulic motor was established,and the main factors of synchronization tracking error were analyzed.To reduce the negative effect of the external disturbance on the position tracking performance,the adaptive robust controller was designed for the position tracking controller.A dynamic surface disturbance rejection synchronization controller was designed based on a novel synchronization error evaluation index,and the problem of"differential explosion"caused by too many feedback items was also addressed,to improve the overall position synchronization accura-cy.In addition,the global sliding surface integrating the position synchronization and tracking sliding surfaces was synthesized,and the overall control rate was obtained.The stability of the proposed controller was confirmed by the Lyapunov stability theory.Finally,the mul-tiple drives system of mine scraper conveyor was tested.By comparing the performance indexes of different controllers,the adaptive abili-ty of the designed multi-drive synchronous tracking hierarchical sliding mode control strategy was verified under different working con-ditions.
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