基于滑模状态观测器的电液位置伺服系统控制  

Backstepping Control for Electro-Hydraulic Positioning Servo System with Sliding State Observer

作　　者：乔继红[1] 

机构地区：[1]北京工商大学计算机与信息工程学院,北京100048

出　　处：《计算机仿真》2014年第11期367-371,共5页Computer Simulation

基　　金：北京市教委科技计划面上项目(KM201210011003)

摘　　要：在电液伺服系统优化设计的研究中,针对电液位置伺服系统的高阶非线性特性、系统参数不确定性以及系统状态信号测量困难的情况,提出一种基于滑模状态观测器的反演控制策略。策略采用滑模方法设计状态观测器,只需要位置传感器,不需要速度传感器和加速度传感器。对采用状态观测器之后的系统,设计反演控制器,针对系统中的不确定性,在反演控制的最后一步采用滑模控制设计,基于Lyapunov方法证明了系统中所有信号是一致最终有界的,闭环系统是稳定的。仿真结果表明,上述策略为电液伺服系统优化设计提供了参考。A backstepping control scheme with sliding state observer is proposed for high order nonlinear electrohydraulic positioning servo system to reduce the influence of uncertain parameters and deal with difficulty of state measurement. A sliding method is used to observe system＇ s state, so only a position sensor is needed, speed and acceleration sensors are not needed anymore. A controller is designed for the system with state observer by using backstepping control method. A sliding control is used in the last step of backstepping method to reduce the influence of uncertainty. All the signals in the closed-loop control system are uniformly ultimately bounded in the sense of Lyapunov. The proposed method is validated by simulation.

关 键 词：电液位置伺服系统 滑模 状态观测器 反演控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]