摘要
Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed.The proposed controller comprises an extended disturbance observer(EDOB)and a nonlinear robust control law synthesized by the backstepping method.The EDOB is designed to estimate not only the influence of disturbances but also the parameter uncertainties.With the use of parameter and disturbance estimates,the nonlinear cascade controller,which consists of an outer position tracking loop and an inner load pressure loop,is further designed to attenuate the effects of parameter and disturbance estimation errors.The stability of the closed-loop system is proven by means of Lyapunov theory.Extensive comparative experimental results obtained verify the effectiveness of the proposed nonlinear cascade controller and its performance robustness to parameter and external disturbance variations in practical implementation.
为实现对单杆气缸活塞运动轨迹的精确控制,本文提出了一种基于扩展干扰观测器的非线性级联控制方法,利用扩展干扰观测器估计干扰与未知模型参数信息,通过非线性鲁棒控制律抑制参数与干扰估计误差、未建模动态的影响。该级联控制器由内环压力控制回路和外环位置回路两部分组成,分别采用滑模控制理论进行设计,利用Lyapunov理论证明了闭环系统的稳定性。试验表明,所设计的控制器能获得良好的轨迹跟踪控制性能,对干扰和系统参数变化具有较强的性能鲁棒性。
作者
LI Ai-min
MENG De-yuan
LU Bo
LI Qing-yang
李艾民;孟德远;路波;李庆阳(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China;National Quality Supervision and Inspection Centre of Pneumatic Products,Ningbo 315500,China)
基金
Project(51505474)supported by the National Natural Science Foundation of China
Project(2015XKMS020)supported by the Fundamental Research Funds for the Central Universities,China
Project(2016T90520)supported by the China Postdoctoral Science Foundation
Project supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions,China
