电液比例系统鲁棒自适应动态表面控制  

Robust adaptive dynamic surface control of electro-hydraulic proportional system

作　　者：白寒[1] 管成[1] 

机构地区：[1]浙江大学机械与能源工程学院

出　　处：《浙江大学学报（工学版）》2010年第8期1441-1448,共8页Journal of Zhejiang University：Engineering Science

基　　金：国家科技支撑计划资助项目(2007BAF13B04)

摘　　要：针对具有未知死区的单出杆液压缸电液比例系统,提出一种鲁棒自适应动态表面控制方法.为克服死区非线性,引入一个新型死区模型,将未知死区转化为一个具有时变增益和未知上界的不确定项的线性系统.对模型时变增益采用类似鲁棒控制的方法,对模型不确定项的上界进行自适应估计.利用动态表面控制技术简化控制器的设计,采用一种简单的鲁棒设计方法补偿系统的模型不确定项,最终给出整个电液系统的自适应控制器和不确定参数自适应律的设计方法.该控制方法结构简单,鲁棒性强.实验结果表明,采用该控制方法可取得良好的控制效果,尤其可以补偿比例换向阀未知死区不确定性对系统的影响.A robust adaptive dynamic surface control method was presented for a single-rod electro-hydraulic actuator with unknown dead-zone.By introducing a novel description of general nonlinear dead-zone,the proposed scheme was extended to overcome the effect of dead-zone.The uncertain dead-zone model was transformed into a linear system with a time-varying gain and an uncertainty term.The time-varying gain of dead-zone model was treated by using a robust control method,and the unknown bound of dead-zone model uncertainty was estimated online.Furthermore,the backstepping design was simplified by utilizing dynamic surface control,and by combining a simple robust method,the electro-hydraulic proportional system＇s controller and adaptation laws for uncertain parameters were presented.The proposed control scheme is simple and insensitive to parameter and model uncertainties.Experimental results show that the nonlinear control algorithm has a good performance for the tracking task in the presence of unknown deadzone of proportional directional valve.

关 键 词：未知非线性死区 动态表面控制 电液比例系统 鲁棒控制 自适应控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]