摘要
因不匹配扰动及不确定参数的变化,电液位置伺服系统采用滑膜控制存在抖振及跟踪控制性能较差等问题.针对电液位置控制的非线性,提出了一种基于反步法的高阶非线性滑膜变结构控制,保证了对不匹配扰动和不确定性参数的鲁棒性.采用脉冲函数替换符号函数,降低了系统的抖振.将鲁棒滑模观测器附加到闭环控制系统中,用于估计未测量状态,实现输出反馈控制.采用一阶滑膜控制和非线性高阶滑膜控制对单位阶跃响应进行了仿真研究,结果表明,提出的控制方法具有零稳态误差的参考位置的稳定性和收敛性,实现了电液伺服位置跟踪.
Because of the mismatched disturbance and uncertain parameter changes,electro-hydraulic position servo system has some problems such as chattering and poor tracking control performance.In view of the nonlinearity of electro-hydraulic position control,a high order nonlinear sliding mode variable structure control based on the backstepping method is proposed,which ensures the robustness to the mismatched disturbance and the uncertain parameters.Using the impulse function to replace the symbol function,the chattering of the system is reduced.Finally,the robust sliding mode observer is added to the closed-loop control system to estimate the unmeasured state and achieve output feedback control.The unit step response is simulated by first order sliding mode control and nonlinear high order sliding mode control.The results show that the control method proposed in this paper has the stability and convergence of reference position for zero steady-state error,and realizes electro-hydraulic servo position tracking.
作者
王海燕
WANG Haiyan(Department of Electronic Information Science and Technology,Changchun Science and TechnologyUniversity,Changchun 130600,China)
出处
《中国工程机械学报》
北大核心
2019年第2期134-140,共7页
Chinese Journal of Construction Machinery
基金
辽宁省自然科学基金资助项目(2015010160-301)
辽宁省教育厅科学技术研究资助项目(L2013170)
关键词
电液位置伺服
非线性高阶滑膜
观测器
反步法
非匹配扰动
不确定性
electro-hydraulic position servo
nonlinear high order sliding mode
observer
backstepping
unmatched disturbance
uncertainty
