间歇激励条件下电液伺服系统的复合自适应控制  

Composite Adaptive Control for Electro-Hydraulic Servo System Under Interval Excitation Condition

作　　者：郭秦阳[1] 施光林[1] 王冬梅[1] GUO Qin yang;SHI Guanglin;WANG Dongmei(School of Mechanical Engineering, Shanghai Jiao Tong Univers让y, Shanghai 200240, China)

机构地区：[1]上海交通大学机械与动力工程学院

出　　处：《上海交通大学学报》2019年第6期639-646,共8页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(51375304)

摘　　要：针对电液伺服系统在间歇激励条件下的高精度轨迹追踪问题提出了一种复合自适应动态面控制方法.通过引入一阶指令滤波器对控制器设计过程中的虚拟控制信号进行处理.可以避免对其进行复杂的偏微分计算.为了实现对液压系统中未知阻尼系数与未知刚度系数的估计与补偿,设计了一种复合自适律,松弛了传统自适应控制方法中严格的持续激励条件.利用Lyapunov理论对闭环系统的稳定性进行了分析,并基于MATLAB/Simulink对比仿真结果验证了所提出控制方法的有效性.A composite adaptive dynamic surface control method was proposed for high accuracy trajectory tracking of an electro-hydraulic servo system under interval excitation condition. By introducing the firstorder command filters to process the virtual control signals during the controller designing process, the complicated calculation of the partial derivatives of the virtual control signals could be avoided. In order to realize the estimation and compensation of the unknown damping coefficient and unknown stiffness coefficient of the hydraulic system, a composite adaptive law was designed, and the stringent persistent excitation condition of the conventional adaptive control method was relaxed. The stability of the closedloop system was analyzed by using Lyapunov theory, and the comparative simulation results based on MATLAB/Simulink have verified the effectiveness of the proposed control method.

关 键 词：电液伺服系统 未知参数 轨迹追踪 复合自适应控制 动态面控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP271[自动化与计算机技术—检测技术与自动化装置]