电液负载模拟器的自适应滑模控制方法  

Adaptive Sliding Control for Electro-hydraulic Load Simulator

作　　者：杨芳[1] 袁朝辉[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《计算机仿真》2011年第11期168-171,204,共5页Computer Simulation

摘　　要：针对电液负载模拟器存在的系统非线性、不确定性和强干扰的控制难点,设计了自适应滑模控制方法。设计积分滑模以降低控制器对期望跟踪轨迹高阶导数的要求;设计动态滑模算法抑制抖振;采用小脑模型关节控制器(CMAC)在线学习系统不确定性以降低控制器参数设计的保守性。设计了自适应滑模控制律,给出了CMAC神经网络权值调整算法,证明了控制器的稳定性,以确保系统稳定且输出跟踪误差渐近收敛于零。仿真结果证明了控制策略的有效性。Aiming at the key problems of electro-hydraulic loading simulation system,such as nonlinearity,uncertainty and strong interferences,an adaptive sliding control method on electro-hydraulic loading simulator was investigated.In the paper,integral sliding mode was designed to decrease the controllers＇ high-order derivative requirements for desired tracking trajectory.A dynamic sliding mode method was designed to eliminate the chattering problem.The Cerebellum Model Articulation Controller（CMAC） was used to learn uncertainties of system for reducing the conservation of controller parameters design.An adjustment method of CMAC neural network weights was given and the stability of controller was proved.These works guarantee the output tracking error converging to zero while the system is stabilized.The simulation results illustrate the effectiveness of the control method.

关 键 词：电液负载模拟器 非线性 动态积分滑模 小脑模型关节控制器 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]