Adaptive Robust Dead-Zone Compensation Control of Electro-Hydraulic Servo Systems with Load Disturbance Rejection  

作　　者：HE Yudong WANG Junzheng HAO Renjian 

机构地区：[1]Key Laboratory of Intelligent Control and Decision of Complex Systems,School of Automation,Beijing Institute of Technology

出　　处：《Journal of Systems Science & Complexity》2015年第2期341-359,共19页系统科学与复杂性学报（英文版）

基　　金：supported by Program for New Century Excellent Talents in University(NCET-12-0049);Beijing Natural Science Foundation(4132034)

摘　　要：A backstepping method based adaptive robust dead-zone compensation controller is pro- posed for the electro-hydraulic servo systems （EHSSs） with unknown dead-zone and uncertain system parameters. Variable load is seen as a sum of a constant and a variable part. The constant part is regarded as a parameter of the system to be estimated real time. The variable part together with the friction are seen as disturbance so that a robust term in the controller can be adopted to reject them. Compared with the traditional dead-zone compensation method, a dead-zone compensator is incor- porated in the EH$S without constructing a dead-zone inverse. Combining backstepping method, an adaptive robust controller （ARC） with dead-zone compensation is formed. An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure. Simulations show that the proposed method has a splendid tracking performance, all the uncertain parameters can be estimated, and the disturbance has been rejected while the dead-zone term is well estimated and compensated.

关 键 词：Adaptive robust control dead-zone servo systems tuning method. compensation disturbance rejection ELECTRO-HYDRAULIC 

分 类 号：TH137[机械工程—机械制造及自动化] TP13[自动化与计算机技术—控制理论与控制工程]