电液系统初始容积不确定的Lyapunov 再设计控制方法  

Lyapunov Redesign Control Method for Electro-Hydraulic Servo System Control with Initial Volume Uncertainty

作　　者：贾超 张昊天 谷海青 元志 JIA Chao;ZHANG Hao-tian;GU Hai-qing;YUAN Zhi(School of Electrical and Electronic Engineering,Tianjin University of Technology;Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems)

机构地区：[1]天津理工大学电气电子工程学院 [2]天津市复杂系统控制理论及应用重点实验室

出　　处：《化工自动化及仪表》2019年第4期262-266,272,共6页Control and Instruments in Chemical Industry

基　　金：天津市应用基础与前沿技术研究计划(青年项目)(15JCQNJC42700);天津市高等学校科技发展基金项目(20120705)

摘　　要：针对一类具有非线性和参数不确定性的电液伺服系统,在考虑初始容积和体积弹性模量不确定的基础上,利用Lyapunov理论推导出了一种基于反馈线性化的控制律。该控制律能够根据初始容积的变化做自动调整,解决了由长管道容积不易测定所引起的控制精度低的问题。仿真结果表明:所设计控制器控制精度高、鲁棒性强,与传统控制器相比具有良好的控制性能。Considering the electro-hydraulic servo system with nonlinear and uncertain parameters and basing on analyzing the uncertainty of initial volume and bulk modulus,making use of Lyapunov theory to deduce a feedback linearization-based control law was implemented.The control law can be adjusted automatically according to the change of initial volume,thus the poor control accuracy incurred by the difficulty in measuring the volume of long pipeline can be solved.The simulation results show that,this controller designed has high control precision and strong robustness and it has good control performance compared with the traditional controller.

关 键 词：电液伺服系统 长管道 初始容积不确定 反馈线性化 非线性控制 LYAPUNOV 体积弹性模量 

分 类 号：TH862.6[机械工程—仪器科学与技术]