基于自适应的电液负载模拟器积分鲁棒控制  

Adaptive Integral Robust Control of Electro-hydraulic Load Simulator

作　　者：岳欣[1] 姚建勇[1] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《液压与气动》2016年第12期25-30,共6页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51305203);中国博士后科学基金(2015T80553);江苏省博士后科研资助计划项目(1302002A)

摘　　要：为提高电液负载模拟器的跟踪精度,针对其存在的大量非线性特性和模型不确定性等问题,建立了系统非线性数学模型,基于传统的误差符号积分鲁棒控制方法,融合自适应控制的思想,设计了一种自适应误差符号积分鲁棒控制方法。该方法无需获知模型不确定性的确切界,其积分鲁棒增益的取值可在线调节,更好地克服了模型不确定性对系统的影响,在舵机运动干扰作用下实现了系统的渐近稳定性能。仿真对比结果验证了该控制方法的优良性能。To improve tracking accuracy of Electro-hydraulic load simulator, the nonlinear mathematic model is constructed with consideration of the existing various nonlinear behaviors and modeling uncertainties. Based on traditional robust integral of the sign of the error control method, an adaptive robust integral of the sign of the error control method is designed in conjunction with adaptive control concept. The exact bound of the model uncertainties is not required in the proposed control scheme since the integral robust gain could be adjusted online, which can eliminate the influence on the model uncertainties better and guarantee an asymptotic output tracking performance under the motion disturbance of aircraft actuator. Comparative simulation results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy was greatly improved.

关 键 词：电液负载模拟器 模型不确定性 非线性控制 LYAPUNOV函数 

分 类 号：TH137[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]