电液伺服系统的二阶滑模控制算法研究  

STUDY ON SENCOND-ORDERSLIDING MODE CONTROL LAWFOR ELECTRO-HYDRAULICSERVO SYSTEM

作　　者：李运华[1] 杨丽曼[1] 张志华[2] 

机构地区：[1]北京航空航天大学自动化学院,北京100083 [2]郑州大方桥梁机械有限公司,郑州450005

出　　处：《机械工程学报》2005年第3期72-75,共4页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50175097)

摘　　要：针对存在非线性和不确定性的电液伺服系统的跟踪问题,研究了基于时间最优和Lyapunov函数的二阶滑模控制算法。分析了现有二阶时间最优滑模控制算法的问题,提出了改进的二阶近似时间最优控制算法。它可在保证鲁棒性的同时,有效抑制抖振并提高二阶滑模的响应速度。以大型工程机械的电液伺服转向系统为例对算法进行仿真研究,验证了算法的有效性。Aiming at the tracking control problem of electro-hydraulic servo system with uncertainties and nonlinearities, the second-order sliding mode(SOSM)control algorithms based on time optimal control and Lyapunov function are researched. The problems existed in the existing time-optimal sliding mode control law are analyzed, and an improved SOSM control algorithm with nearly time-optimal control is developed to effectively reduce chattering and enhance responding speed without losing robustness of the system. Taking the steering system model of practical transporting and lifting machinery as example, the simulation study on the algorithm is carried out, and its effectiveness is confirmed.

关 键 词：电液伺服系统 滑模控制 抖振 时间最优 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH137[自动化与计算机技术—控制科学与工程]