A Global Sliding Mode Controller Design for an Intra-Aorta Pump
A Global Sliding Mode Controller Design for an Intra-Aorta Pump
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DOI：
10.1097/mat.0b013e3181ede369
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发表时间：
2010-11
期刊：
影响因子：
4.2
通讯作者：
Yu Chang;B. Gao
中科院分区：
文献类型：
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作者：
Yu Chang;B. Gao
主动脉内泵系统和循环系统都是具有外部扰动和内部不确定性的非线性系统。经典的控制方法建议线性系统。因此，本文提出了一种全局滑模控制器（GSMC）。采用动态扰动补偿器对主动脉内泵系统的不确定性进行估计，以消除抖振。仿真结果验证了控制器的鲁棒性和动态特性。仿真结果表明，该方法消除了控制器输出的抖振影响。流量（5 L/min）阶跃响应的建立时间为0.08秒，无超调或稳态误差。当负载转矩阶跃扰动增加到0.4Nm时，被控系统的建立时间为0.025秒。当所需流量为脉动流时，动态响应时间为0.08秒，最大流量误差为0.03 L/min。为了验证GSMC的动态特性，进行了实验。由于实验中转速和流量的反馈频率比仿真中的反馈频率慢，控制器的性能变差。实验结果表明，流量阶跃响应（5L/min）的建立时间为0.26s，流量误差为0.1L/min。
Both the intra-aorta pump system and the circulation system are nonlinear systems with external perturbation and internal uncertainty. Classical control methods are suggested for linear systems. Therefore, a global sliding mode controller (GSMC) is reported in this article. A dynamic disturbance compensator was used to estimate the uncertainty of the controlled intra-aorta pump system for eliminating chattering effect. Simulations were performed to verify the robustness and dynamic characters of the controller. Simulation results demonstrate that the chattering effect of the controller output is eliminated. The settling time of step response of flow rate (5 L/min) is 0.08 seconds without overshot or steady-state error. When the load torque step disturbance increases to 0.4 Nm, the settling time of the controlled system is 0.025 seconds. When the desired flow rate is pulsatile flow, the dynamic response time is 0.08 seconds, and the maximum flow rate error is 0.03 L/min. To verify the dynamic character of the GSMC, an experiment was conducted. Because the feedback frequencies of rotational speed and flow rate in the experiment were slower than the ones in the simulation, the performance of the controller deteriorates. The experiment results illustrate that the settling time of step response of flow rate (5 L/min) is 0.26 seconds, and the flow rate error is 0.1 L/min.