摘要
针对在电液伺服系统跟踪控制中存在非线性不确定参数和外界扰动的问题,提出了一种基于积分微分器的滑模Lyapunov函数的控制方法。首先,在只有位移信号测量输出的情况下,采用高阶积分链式微分器对其速度和加速度信息进行预估。系统存在非线性不确定参数,利用微分器对状态和不确定项的实时估计,设计出积分滑模控制器,实现自适应规律以及对电液伺服系统中不确定扰动的抑制。搭建电液伺服系统AMESim模型并与Matlab构成联合仿真平台,对控制器进行仿真。仿真表明,该控制器具有良好的对非线性不确定参数变化的补偿能力和跟踪性能。
In order to solve the problems of nonlinear uncertain parameters and external disturbance in tracking control of electro-hydraulic servo system, a control method of sliding mode Lyapunov function based on integral differentiator is proposed. In the case of only measurement displacement signal output, the velocity and acceler- ation information are estimated by using high-order integral chain differentiator. The system has nonlinear un- certain parameters, by using the differentiator to real-time estimate the state and uncertainties, the integral slid- ing mode controller is designed to implement adaptive law and the suppression of the disturbance of uncertainty in electro-hydraulic servo system. An electro-hydraulic servo system AMESim and Matlab joint simulation plat- form was built to simulate the controller. Simulation shows that the controller has good ability of compensation for nonlinear uncertain parameters change and tracking performance.
作者
刘泽
万应才
苏宁
LIU Ze;WAN Ying-cai;SU Ning(Faculty of Electrical and Control Engineering,Liaoning Technical University,Huludao 125105,China;Liaoning General Heavy Machinery-Co.,Ltd.,Tieling 112700,China)
出处
《测控技术》
CSCD
2018年第11期153-158,共6页
Measurement & Control Technology
基金
国家自然科学基金(51304107)
辽宁省液压传动新技术及装备资助项目(LT2013009)
关键词
电液伺服系统
积分滑模控制
微分器
实时估计
electro-hydraulic servo system
integral sliding mode control
differential device
real-time estimation
