自适应鲁棒控制器设计新方法在电液伺服系统中的应用  

Application of a New Adaptive Robust Controller Design Method to Electro-hydraulic Servo System

作　　者：陈光荣[1,2] 王军政[1,2] 汪首坤[1,2] 赵江波[1,2] 沈伟[1,2] 李静[1,2] 

机构地区：[1]北京理工大学自动化学院,北京100081 [2]北京理工大学复杂系统智能控制与决策国家重点实验室,北京100081

出　　处：《自动化学报》2016年第3期375-384,共10页Acta Automatica Sinica

基　　金：国家高技术研究发展计划(863计划)(2011AA041002)资助~~

摘　　要：提出了一种自适应鲁棒控制器设计新方法,并运用在阀控缸电液位置伺服系统中.首先,将含有确定、不确定、已知、未知、线性和非线性项的电液伺服系统进行完整地数学建模,以状态空间的形式表出.然后利用本文所提的新方法设计自适应鲁棒控制器和相应的自适应律来处理所建模型中的各项元素.该控制器通过设计一个带有虚拟控制量的控制状态空间表达式并结合状态观测器来获得.设计合适的虚拟控制量,可在任意给定条件下,使所有的系统状态都收敛到所设计的理想状态.接着设计李亚普诺夫函数来证明闭环系统的稳定性.最后建立硬件实验平台与经典自适应鲁棒控制方法进行对比实验验证此自适应鲁棒控制器设计新方法的有效性和优势.This paper proposes a new design method of adaptive robust controller and applies it to a valve-controlcylinder electro-hydraulic servo system. Firstly, the system is fully derived in the state-space form, which includes all the certain, uncertain, known, unknown, linear and nonlinear terms of the system. Then the adaptive robust controller designed by the new method is employed, together with the chosen adaption laws, to deal with all the elements of the modeled mathematical system. The proposed controller is obtained by designing a control state-space expression with auxiliary control components and a state observer. Under an arbitrary given trajectory, all the system states will converge to the desired states through designing the appropriate auxiliary control components. Lyapunov method is utilized to strictly prove the convergence and stability of the system. Finally, a hardware platform of the system is set up and comparative experiments with the adaptive robust controller are implemented to verify the effectiveness and advantages of the proposed method.

关 键 词：自适应鲁棒 状态观测器 电液伺服 不确定性 非线性 

分 类 号：TM921.541[电气工程—电力电子与电力传动]