阀控非对称缸系统多级滑模鲁棒自适应控制  

Multiple Sliding Mode Robust Adaptive Control for Valve Controlled Asymmetric Cylinder System

作　　者：白寒[1] 王庆九[1] 徐振[1] 管成[1] 

机构地区：[1]浙江大学机械与能源工程学院,杭州310027

出　　处：《农业机械学报》2009年第10期193-198,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金："十一五"国家科技支撑计划资助项目(2007BAF13B04);台州市科技计划资助项目(07ZJU010)

摘　　要：考虑阀控非对称缸系统的特性,设计了一种基于逆向递推方法的多级滑模鲁棒自适应控制器。首先采用Backstepping逆向递推技术和状态反馈线性化的方法,给出系统的多级滑模控制器。然后依据Lyapunov稳定性理论,得到系统不确定参数的自适应律,并在自适应控制中引入鲁棒控制的设计方法,实现对活塞位移的精确位置跟踪控制。实验结果表明,多级滑模鲁棒自适应控制具有较强的鲁棒性和良好的跟踪性能。Considering the characteristics of valve controlled asymmetric cylinder system,a multiple sliding mode robust adaptive controller was designed.First,backstepping technique and state feedback linearization method were used to attain a multiple sliding mode controller.Next,based on Lyapunov stability theory,the uncertain parameters adaptation laws were presented and a robust adaptive controller combined with sliding mode method was designed to track piston displacement accurately. Experimental results show that the multiple sliding mode robust adaptive control approach has a strong robustness and enhances the tracking performance remarkably.

关 键 词：阀控非对称液压缸 多级滑模控制 自适应控制 鲁棒控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]