数字缸伺服系统的自适应鲁棒滑模控制  

Adaptive Robust Sliding Mode Control of Digital Hydraulic Cylinder Servo Systems

作　　者：张新宇[1,2] 于晓光[1] 宋锦春[2] 

机构地区：[1]辽宁科技大学机械工程与自动化学院,辽宁鞍山114051 [2]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《液压与气动》2014年第1期53-56,共4页Chinese Hydraulics & Pneumatics

摘　　要：针对存在参数不确定性、复杂非线性等特点的数字缸伺服系统,提出了自适应滑模鲁棒控制方法,在Lyapunov稳定性分析的基础上,给出了参数自适应律,设计了相应的控制器,并通过MATLAB对系统特性进行仿真分析。仿真结果表明,该控制算法改善了系统控制性能,具有较好的跟踪响应和较强的鲁棒性以及工程实用性。An adaptive robust sliding mode control strategy is proposed for the digital hydraulic cylinder servo sys-tem with uncertain parameters and complex nonlinearity. The parameter adaptive law and the corresponding control-ler are designed on the basis of analysis of Lyapunov stability. The simulation analysis of the system performance is finished with MATLAB. The results show that control algorithm improves the system control performance quality and has a high tracking response, a good robustness and an engineering practicability.

关 键 词：数字缸 自适应滑模控制 鲁棒控制 自适应律 

分 类 号：TH137[机械工程—机械制造及自动化]