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Sliding mode trajectory tracking control of a ball‐screw‐driven shake table based on online state estimations using EKF/UKF
Author(s) -
Rajabi Nima,
Abolmasoumi Amir Hossein,
Soleymani Mehdi
Publication year - 2018
Publication title -
structural control and health monitoring
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.587
H-Index - 62
eISSN - 1545-2263
pISSN - 1545-2255
DOI - 10.1002/stc.2133
Subject(s) - control theory (sociology) , kalman filter , extended kalman filter , engineering , earthquake shaking table , acceleration , trajectory , ball screw , control engineering , computer science , artificial intelligence , physics , control (management) , structural engineering , astronomy , classical mechanics , nut
Summary In this paper, we propose a new trajectory tracking control of a ball‐screw‐driven servomechanism for a shaking table. Displacement and acceleration sensors are assumed available, but currents and velocity sensors are not. The design of this control strategy is based on sliding mode approach with state estimation by extended Kalman filter/unscented Kalman filter. The basic feature of this design is that high velocity and high positioning accuracy can be met despite of the fact that the controlled process suffers from noise, friction, and uncertainty. Torque/flux sliding mode controller with online estimation using extended Kalman filter and unscented Kalman filter is proposed to improve velocity sensorless trajectory tracking control of uniaxial earthquake simulator. Simulation works are carried out to show the ability of the proposed method to simulate the speed and acceleration of 2 important earthquakes. The results also demonstrate the activity of the proposed strategy at wide range of velocity operation with measurement noises.