电液力伺服系统自适应抗扰控制研究  

Adaptive Disturbance Rejection Control of Electro-hydraulic Force Servo System

作　　者：李波 芮光超[1] 方磊[1] 撒韫洁 汤裕[2] 沈刚[2] LI Bo;RUI Guang-chao;FANG Lei;SA Yun-jie;TANG Yu;SHEN Gang(The 713 Research Institute of China Shipbuilding Industry Corporation,Zhengzhou,Henan 450000;School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221116)

机构地区：[1]中国船舶重工集团公司第七一三研究所,河南郑州450000 [2]中国矿业大学机电学院,江苏徐州221116

出　　处：《液压与气动》2019年第12期57-62,共6页Chinese Hydraulics & Pneumatics

基　　金：装备预研教育部联合基金(6141A020331)

摘　　要：考虑到电液伺服系统中存有各种非线性因素、不确定干扰以及参数时变,为了提高干扰下电液力伺服系统的控制精度,以电液伺服振动实验台作为控制对象,构建其非线性模型,同时使用参数自适应率对不定参数进行补偿,并在反演控制器中引入滑模控制以降低系统的干扰敏感性,利用Lyapunov理论保证闭环系统的全局稳定。对设计的控制器进行实验,模拟在有未知外部位置干扰下的力控制,提升系统的稳定性。实验结果证明,此控制方法能够有效地提升电液力伺服系统的抗干扰跟踪性能。Considering the nonlinear factors, external uncertain disturbances and time-varying parameters existed in the electro-hydraulic system, a nonlinear model based on electro-hydraulic shaking table is built in order to improve the force tracking precision. Parameter adaptation control is applied to compensate indefinite parameters and the backstepping controller with sliding mode surface is designed for the system, which is designed to reduce the sensitivity of disturbances. The proposed controller can guarantee the stabilization of the closed-loop system with the theory of Lyapunov. In order to verify the effectiveness of the designed controller, a series of experiments are conducted considering the external unknown disturbances. Experimental results show that the proposed control strategy is effective to improve the anti-interference tracking performance of the electro-hydraulic force servo system.

关 键 词：电液力伺服系统 自适应鲁棒控制 反步控制 扰动抑制 

分 类 号：TH137[机械工程—机械制造及自动化] TP13[自动化与计算机技术—控制理论与控制工程]