电液位置伺服系统的自适应抗饱和控制  

Adaptive Anti Saturation Control for Electro-Hydraulic Position Servo System

作　　者：鄂东辰 路时雨 刘超强 蔡玉强 张立杰[2,3] E Dongchen;LU Shiyu;LIU Chaoqiang;CAI Yuqiang;ZHANG Lijie(College of Mechanical Engineering,North China University of Science and Technology,Tangshan Hebei 063210,China;Hebei KeyLaboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao Hebei 066004,China;Key Laboratory of Advanced Forging&Stamping Technology and Science,Ministry of Education of China,Yanshan University,Qinhuangdao Hebei 066004,China)

机构地区：[1]华北理工大学机械工程学院,河北唐山063210 [2]燕山大学河北省重型机械流体动力传输与控制重点实验室,河北秦皇岛066004 [3]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004

出　　处：《机床与液压》2022年第22期48-53,共6页Machine Tool & Hydraulics

基　　金：河北省省属高校基本科研业务费(JQN2020022)。

摘　　要：针对电液位置伺服系统的不确定性与输入饱和问题,提出自适应抗饱和控制策略。建立阀控缸系统的数学模型;在基于反步法的设计框架下,将输入饱和导致的跟踪误差加入到李亚普诺夫函数当中,并根据该李亚普诺夫函数设计控制器。通过使李亚普诺夫函数渐近稳定,使得系统跟踪误差收敛于零。针对系统模型中的不确定参数,通过自适应算法对其进行迭代更新,以保证控制器的有效性。以跟踪误差最小为目标函数,采用粒子群搜索算法优化控制器的4个参数。结果表明:加入抗饱和时的控制信号比未考虑输入饱和时的控制信号的幅值明显减小,消除了输入饱和现象;在参数不确定和输入饱和情况下液压缸活塞的最大跟踪误差仅为5.8×10^(-6)mm,相对无抗饱和算法时的跟踪误差有了大幅减小。Aiming at the problem of uncertainty and input saturation for electro-hydraulic position servo system, an adaptive anti saturation control strategy was proposed.The mathematical model of a valve controlled cylinder system was established;in the design framework based on backstepping, the tracking error caused by input saturation was added to the Lyapunov function, and the controller was designed according to this Lyapunov function. By making the Lyapunov function asymptotically stable, the tracking error of the system was converged to zero. For the uncertain parameters in the system, the adaptive algorithm was used to update them iteratively to ensure the effectiveness of the controller. Taking the minimum tracking error as the objective function, the particle swarm search algorithm was used to optimize the four parameters of the controller. The results show that the amplitude of anti saturation control signal is significantly reduced compared with that without input saturation, and the input saturation phenomenon is eliminated;under the condition of parameter uncertainty and input saturation, the maximum tracking error of hydraulic cylinder is only 5.8×10^(-6)mm, compared with no anti saturation algorithm, the tracking error is greatly reduced.

关 键 词：鲁棒控制 李亚普诺夫稳定性理论 自适应抗饱和控制 粒子群优化 电液位置伺服系统 

分 类 号：TP237[自动化与计算机技术—检测技术与自动化装置]