电动静液作动器自适应滑模控制  

Adaptive Sliding Mode Control for Electro-hydrostatic Actuator

作　　者：史正强[1] 文明[2] 裴忠才[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京航天发射技术研究所,北京100076

出　　处：《计算机测量与控制》2015年第11期3637-3640,共4页Computer Measurement &Control

基　　金：国家自然科学基金(50975010)

摘　　要：为提高电动静液作动器速度平稳性,抑制泄漏非线性和摩擦非线性对系统控制性能的影响,采用自适应滑模方法构建控制器;滑模控制可以有效抑制系统内非线性因素的影响,但是由于抖振现象的存在限制了速度平稳性的进一步提升;针对固定切换增益的滑模控制方法的不足,提出一种基于变结构滤波器的自适应滑模控制方法;采用变结构滤波器估计系统状态信息,估计的系统状态信息用于构建滑模面,采用自适应切换增益来导出控制率,有效减小了抖振幅度;仿真结果证明了自适应滑模控制器的有效性,采用这种方法减小了控制器输出抖振幅度,提高了系统的速度平稳性。To improve velocity smoothness of the electro-hydrostatic actuator（EHA）,suppress influence of leakage nonlinear factors and friction nonlinear to control performance of the system,adopt adaptive sliding mode method to construct the controller.Sliding mode control can effectively suppress the influence of nonlinear factors in the system,but enhancement of the velocity smoothness is blocked by the chattering of the sliding mode control.Aiming at suppress the shortage of sliding mode control method with fixed switching gain,this paper proposes an adaptive sliding mode control method based on variable structure filter.Use the variable structure filter to estimate system states information,then the states information are used to construct sliding surface,use adaptive switching gain to deduce the control law,reduce the chattering amplitude effectively.Simulation results demonstrate the effectiveness of the adaptive sliding mode control method,the chattering amplitude of the controller is reduced and the velocity smoothness of the electro-hydrostatic actuator is improved by using this method.

关 键 词：电动静液作动器 速度平稳性 自适应滑模控制 变结构滤波器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]