基于扩展观测器的电液负载模拟器自适应鲁棒控制  

Adaptive robust control of electro-hydraulic load simulator based on extended observer

作　　者：邹璇 刘鑫宇 赵海鸣 沈伟[2] ZOU Xuan;LIU Xinyu;ZHAO Haiming;SHEN Wei(NO.703 Research Institute of China State Shipbuilding Corporation Limited,Harbin 150000,China;School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]中国船舶集团公司第七〇三研究所,哈尔滨150000 [2]上海理工大学机械工程学院,上海200093

出　　处：《上海理工大学学报》2021年第6期551-559,共9页Journal of University of Shanghai For Science and Technology

基　　金：国家自然科学基金资助项目(51975376);上海市自然科学基金资助项目(19ZR1435400)。

摘　　要：针对电液负载模拟器中传感器测量噪声干扰和未知的外部扰动引起的跟踪精度不高的问题,提出了一种基于扩展观测器的自适应鲁棒控制器。利用扩展观测器估计系统中未知的模型不确定性并进行补偿,同时,在观测器和控制器的自适应模型补偿器设计中,将实际状态值替换为相应的期望信号值,以减少测量噪声的干扰,控制器和扩展观测器中的系统参数均通过参数自适应得到。利用Lyapunov理论进行了闭环系统的稳定性分析。仿真结果表明,在不存在外部扰动的情况下,所提出的控制器能够达到更高的跟踪精度,而在存在外部扰动的情况下,所提出的控制器不仅保持了良好的跟踪性能,同时具有较强的鲁棒性。Aiming at the problem of insufficient tracking accuracy caused by measurement noise from a sensor and unknown external disturbance in the electro-hydraulic load simulator,an adaptive robust controller based on an extended observer was proposed.The unknown model uncertainty in a system was estimated and compensated by the extended observer.Besides,in the design of the adaptive model compensator of the observer and a controller,the actual state value was replaced with the corresponding desired signal value to reduce an interference of measurement noise.The system parameters in the controller and the extended observer were obtained through parameter adaptation.Finally,the stability analysis of a closed-loop system was carried out based on the Lyapunov theory.The simulation shows that the proposed controller can achieve higher tracking accuracy with no external disturbanse,while the proposed controller not only maintains good tracking performance but also has strong robustness in the presence of external disturbanse.

关 键 词：电液负载模拟器 自适应鲁棒控制 扩展观测器 外部扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]