阀控马达伺服系统自适应积分鲁棒控制  

Adaptive integral robust control of valve-controlled motor servo system

作　　者：霍寒旭 杨秀萍[1,2] 张高峰 曹秀芳 HUO Hanxu;YANG Xiuping;ZHANG Gaofeng;CAO Xiufang(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;Nanjing Chenguang Group Co.,Ltd.,Nanjing 210006,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]南京晨光集团有限责任公司,江苏南京210006

出　　处：《天津理工大学学报》2022年第3期20-25,共6页Journal of Tianjin University of Technology

基　　金：国家重点研发计划重点专项项目(2017YFB1302100)。

摘　　要：电液伺服系统具有高度非线性,且模型存在大量不确定性,设计的控制器易出现抑制干扰能力差和轨迹跟踪精度低等问题。为此,设计了一种基于自适应的积分鲁棒控制器,用于对重载机械臂的阀控马达进行控制。通过不连续参数映射实现参数自适应,改善参数不确定性。利用误差符号积分项,补偿外干扰的不确定性。仿真结果表明:该控制器具有良好的干扰抑制能力,能显著地提高电液伺服系统的跟踪精度。The electro-hydraulic servo system is highly nonlinear and the model has a lot of uncertainty. The designed controller has problems of poor interference suppression ability and low trajectory tracking accuracy. A controller based on adaptive integral robustness is designed to control the valve-controlled motor of the heavy load manipulator. Through discontinuous parameter mapping,parameter adaptation is realized and parameter uncertainty is improved. Combined with the error sign integral term,the uncertainty of external interference is compensated. The simulation results show that the controller has good interference suppression ability and can significantly improve the tracking accuracy of the electrohydraulic servo system.

关 键 词：重载机械臂 电液伺服系统 非线性模型 参数自适应 积分鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]