摘要
针对含死区输入非线性电液速度伺服系统的跟踪控制问题,结合模型参考与滑模变结构控制理论,提出一种自适应模型参考滑模控制方案。用模型参考方法来保证系统的稳态品质,用滑模控制方法来改变系统的动态品质,利用对称型Sigmoid连续函数以平滑不连续控制。仿真结果显示,该方案可以减小跟踪误差、增强系统的鲁棒性和削弱控制信号中的高频抖振。
Aimed at the tracking control problem of nonlinear electro-hydraulic velocity servo system containing dead zone input, a design method of adaptive model reference sliding mode control was presented to combine model reference adaptive control theory with sliding mode theory. The model reference control can guarantee steady-state quality of the control system and the sliding mode control ean improve dynamics-state quality. The symmetrical Sigmoid function was given to smooth the discontinuous control. Simulation result indicates that the control approach can decrease the tracking error, enhance the system robustness and attenuate the high frequency chattering.
出处
《机床与液压》
北大核心
2009年第1期102-104,125,共4页
Machine Tool & Hydraulics
基金
浙江省自然科学基金项目(Y107605)
关键词
电液伺服系统
死区
模型参考滑模控制
Electro-hydraulic servo system
Dead zone
Model reference sliding mode control
