基于李雅普诺夫理论的电液伺服系统非线性位置控制研究  

Study on Nonlinear Position Control of Electro-hydraulic Servo System Based on Lyapunov Theory

作　　者：王莉[1] 李庭贵[1] 王旭 WANG Li;LI Guiting;WANG Xu(Luzhou Vocational and Technical College,Luzhou Sichuan 646000,China;Anhui University of Science and Technology,Huainan Anhui 232000,China)

机构地区：[1]泸州职业技术学院,四川泸州646000 [2]安徽理工大学,安徽淮南232000

出　　处：《机床与液压》2021年第9期136-140,共5页Machine Tool & Hydraulics

基　　金：泸州市科技项目(2019YFG0064,2015-S-53(4/5))。

摘　　要：电液伺服系统存在高度非线性及参数时变等问题,同时由于其多学科性质导致精确模型的建立比较困难。针对电液伺服系统非线性位置控制问题,采用基于非线性系统的李雅普诺夫理论的控制器实现电液伺服系统的有效控制,并对控制效果进行仿真验证。构造了伺服阀以及液压执行器的动力学方程,建立电液伺服系统简化数学模型。基于非线性系统的李雅普诺夫理论,利用积分反演法设计了电液伺服系统控制器。采用MATLAB软件对电液伺服系统进行仿真,并与传统PID控制器的计算结果进行对比和分析。仿真结果显示:采用所设计的控制器,电液伺服系统对阶跃和正弦信号的跟踪性能较优,所需控制电压减少50%左右,跟踪误差也大大减少。Electro-hydraulic servo systems have problems such as high nonlinearity and time-varying parameters.At the same time,it is difficult to build accurate models due to their multi-disciplinary nature.Aiming at the non-linear position control of the electro-hydraulic servo system,a controller based on the Lyapunov theory of the nonlinear system was used to achieve effective control of the electro-hydraulic servo system,and the control effect was simulated and verified.The dynamic equations of the servo valve and the hydraulic actuator were constructed,and a simplified mathematical model of the electro-hydraulic servo system was established.Based on Lyapunov theory of the nonlinear system,the controller of the electro-hydraulic servo system was designed by using integral backstepping method.MATLAB software was used to simulate the electro-hydraulic servo system,and the calculation results were compared and analyzed with the traditional PID controller.The simulation results show that by using the designed controller,the tracking performance of the electro-hydraulic servo system for step and sinusoidal signals is better,the required control voltage is reduced by about 50%,and the tracking error is also greatly reduced.

关 键 词：李雅普诺夫理论 反演法 电液伺服系统 非线性位置控制 

分 类 号：U463[机械工程—车辆工程]