摘要
提出了一种基于K观测器的动态面控制策略,成功地解决了某火炮高平机电液系统非线性非匹配问题。使用所设计的自适应律,估计了系统状态方程中的未知参数,通过定义边界层误差及Lyapunov函数,证明了控制器的稳定性。通过AMESim和Matlab联合仿真的方法验证了所设计控制器的跟踪性能,仿真结果表明该控制策略具有较好的动态跟踪性能和较高的鲁棒性。
A dynamic surface control algorithm based on K observer was proposed to solve the problem of strong nonlinearity and mismatch with disturbances in the elevating equilibrator electro-hydraulic system.The total uncertain parameters in real time of the state equation can be estimated by a designed adaptive law.The stability of the controller was proved by defining the error of boundary layer and Lyapunov function.The tracking performance of the designed controller was verified by the method of co-simulation using the software of AMESim and Matlab.The co-simulation results show the proposed control algorithm has higher tracking accuracy and better robustness.
作者
杨善平
尹强
羊柳
YANG Shanping;YIN Qiang;YANG Liu(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
出处
《兵器装备工程学报》
CAS
北大核心
2020年第5期129-133,共5页
Journal of Ordnance Equipment Engineering
基金
江苏省自然科学基金青年基金项目(BK20140773,BK20180481)。
关键词
高平机
电液系统
K观测器
动态面控制
联合仿真
elevating equilibrator
electro-hydraulic system
K observer
dynamic surface control
co-simulation
