基于指令滤波的电液伺服系统自适应反步控制  

Adaptive backstepping control for electro-hydraulic servo system with input saturation based on command filter

作　　者：方一鸣[1,2] 石胜利[1,3] 李建雄[1] 李叶红[1] 

机构地区：[1]燕山大学工业计算机控制工程河北省重点实验室,河北秦皇岛066004 [2]北京航空航天大学自动化学院,北京100191 [3]燕山大学理学院,河北秦皇岛066004

出　　处：《电机与控制学报》2013年第9期105-110,共6页Electric Machines and Control

基　　金：国家自然科学基金(61074099;61273004);秦皇岛市科学技术研究与发展计划(2012021A006);河北省教育厅科学研究计划项目(Z2009145)

摘　　要：针对电液伺服位置系统存在参数不确定性、外部扰动和输入饱和的问题,提出一种基于指令滤波的自适应反步控制方法。该方法通过引入辅助系统,解决了输入饱和的问题;在自适应反步控制器设计过程中,利用指令滤波器避免了传统反步控制的计算膨胀问题;采用模糊自适应方法来处理系统中的未知非线性部分。理论分析结果表明,所设计的控制器能够保证闭环系统有界稳定,跟踪误差满足H_∞性能。最后对某650 mm轧机电液伺服位置系统进行仿真研究,仿真结果验证了所提方法的有效性。An adaptive backstepping control method based on command filter is proposed for electro- hydraulic servo position system in the presence of parameter uncertainties, external disturbances and input saturation. An auxiliary system was introduced to analyze the effect of input saturation. The proposed backstepping control method, where command filters were adopted to avoid the tedious analytic computations of time derivatives of virtual controller, was significantly simplified. Fuzzy logic systems were used for the approximation of unknown nonlinear. The closed-loop system bounded stability was achieved via Lyapunov synthesis and the tracking error satisfied the H-infinity tracking performance. Finally, simulation was presented on the electro-hydraulic servo position system of 650mm rolling mill, and the simulation results illustrate the validity of the proposed controller.

关 键 词：电液伺服系统 自适应 反步控制 指令滤波 输入饱和 H∞性能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]