泵控非对称液压位置系统自适应Backstepping控制  

Adaptive Backstepping Control of Pump Controlled Asymmetric Hydraulic Position System

作　　者：许文斌[1] 曾乐 XU Wenbin;ZENG Le(College of Aviation Machinery Manufacturing,Airforce Aviation Repair Institute of Technology,Changsha Hunan 410124,China;State Key Laboratory of High Performance Complicated Manufacturing,Central South University,Changsha Hunan 410083,China)

机构地区：[1]空军航空维修技术学院航空机械制造学院,湖南长沙410124 [2]中南大学高性能复杂制造国家重点实训室,湖南长沙410083

出　　处：《机床与液压》2021年第16期33-37,共5页Machine Tool & Hydraulics

基　　金：973计划(2014CB049405);湖南省自然科学联合基金(2020JJ7084)。

摘　　要：针对泵控非对称缸位置系统强非线性、参数不确定性及负载扰动等问题,提出自适应Backstepping控制策略以提高系统位置跟踪精度和鲁棒性。建立了系统状态空间数学模型。基于Backstepping算法,构建了Lyapunov函数,设计自适应控制律,以消除系统不确定性参数影响。通过不同工况负载下正弦响应,验证了提出的控制策略。实验结果表明:所提出的自适应Backstepping控制策略使系统的位置追踪误差保持在±0.05 mm,系统的稳定性和鲁棒性得到了有效提高。Aiming at the problems of strong nonlinearity,parameter uncertainty and load disturbance in pump controlled asymmetric cylinder position system,an adaptive Backstepping control strategy was proposed to improve the position tracking accuracy and robustness of the system.The mathematical model of system state space was established.Based on Backstepping algorithm,the system parameter uncertainty was dealt with by employing a Lyapunov function and designing an adaptive control law.The proposed control strategy was validated by the sinusoidal response under different load conditions.The experimental results show that the proposed adaptive Backstepping control strategy keeps the position tracking error of the system within±0.05 mm,and the stability and robustness of the system are improved.

关 键 词：泵控非对称液压系统 Backstepping算法 自适应控制 不确定性参数 负载扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]