变刚度电液力负载模拟器自适应反步控制  

Adaptive Backstepping Control for the Electro-hydraulic Load Simulator with Variable Stiffness

作　　者：李罡[1] 贺向宗[1] 李宝仁[1] 杜经民[1] 仇艳凯[1] 

机构地区：[1]华中科技大学机械学院FESTO气动中心,湖北武汉430074

出　　处：《液压与气动》2015年第9期130-133,共4页Chinese Hydraulics & Pneumatics

摘　　要：某电液力负载模拟系统以钢丝绳为传递介质,其特性随钢丝绳刚度大范围变化而改变,针对定常控制策略难以实现其大范围控制难题,提出采用自适应反步控制策略。结合间接自适应方法和反步控制方法的优点,通过反步设计方法获得与系统模型参数直接相关的控制器,通过参数预估实时更新刚度值并修正控制器参数,从而补偿刚度变化对闭环控制系统性能的影响。仿真结果表明:在所设计的力加载范围内,该控制算法能够准确预估钢丝绳刚度值,可以实现变刚度电液力负载模拟系统大范围高精度控制,并且可以消除多余力对负载模拟精度的影响。The character of an electro-hydraulic load simulator is very different with the change of the stiffness of the wire-rope that is the transform medium of the simulator. An adaptive backstepping controller is proposed to deal with the difficulty of large scale control that cannot be solved with a constant controller. An effective method directly associated with the parameters of the mathematical model is designed,and the stiffness is updated on-line by the parameter estimation method to eliminate the effect of the variable stiffness. Simulations show that within the working range,the character and consistency of the closed loop system are improved.

关 键 词：变刚度 负载模拟 自适应 反步法 

分 类 号：TH137[机械工程—机械制造及自动化]