Backstepping sliding mode control for continuous cast mold oscillation displacement system driven by servo motor
KANG Ke-song
LIU Le
FANG Yi-ming
ZHENG Hui-cheng
Abstract：In this paper, a backstepping sliding mode controller based on the double power reaching law and extended state observer (ESO) is designed for the problems of the machining error of reduction ratio, the initial deviation of the ec-centric shaft mechanical zero and load torque disturbance, which exist in oscillation displacement system of the continuous casting mold driven by servo motor through the eccentric shaft linkage. Firstly, for the non-uniqueness of the nonlinear inverse relationship from the position angle of eccentric shaft to the displacement of continuous casting mold, the corre-spondence nonlinear mapping function from the displacement of mold to the position angle of eccentric shaft is established by piecewise function. Secondly, for the non measurable machining error of reduction ratio and the load torque distur-bances the ESO is designed to weaken the influence of disturbance on the system tracking performance. Finally, double exponential reaching law with second-order sliding mode characteristics and finite time convergence characteristics is used to improve the convergence speed and weaken the chattering. The Simulation results show that the controller designed in this paper can achieve asymptotic tracking to the displacement of continuous casting mold and have robustness to the disturbance of system.
Keywords：servo motor drivecontinuous casting molddisplacement system of oscillationextended state observerbackstepping sliding mode controldouble power reaching law
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1442-1448 )