某扫雷器电液伺服系统自适应鲁棒控制研究  

Research on Adaptive Robust Control of Electro hydraulic Servo System of a Minesweeper

作　　者：王瑞宁 陈机林[1] 李勃[1] 李佳帅 姬裕莹 WANG Ruining;CHEN Jilin;LI Bo;LI Jiashuai;JI Yuying(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学,南京210094

出　　处：《自动化与仪器仪表》2023年第11期237-241,共5页Automation & Instrumentation

摘　　要：针对扫雷器电液伺服系统中存在的非线性以及参数不确定性引起的响应速度慢、抗扰能力差、跟踪精度低等问题,拟设计一种基于扩张状态观测器的自适应鲁棒控制器。建立扫雷器电液伺服系统的数学模型,分析自适应鲁棒控制的架构,将自适应控制参数可在线调节的特点与鲁棒控制器鲁棒性强的特点相结合,利用扩张状态观测器对随机扰动进行估计,使系统拥有更强的鲁棒性以及参数调整能力,以实现良好的跟踪性能。仿真结果表明:该控制策略能够有效提高扫雷器电液伺服系统的跟踪精度,并且拥有较强的鲁棒性。Aiming at the problems of slow response speed,poor anti-interference ability and low tracking accuracy caused by nonlinearity and parameter uncertainty in electro-hydraulic servo system of mine sweeper,this paper proposes to design an adaptive robust controller based on extended state observer.The mathematical model of electro-hydraulic servo system of mine sweeper is established,the architecture of adaptive Robust control is analyzed,the characteristics of adaptive control parameters that can be adjusted online are combined with the characteristics of robust controller,and the expanded state observer is used to estimate the random disturbance,so that the system has stronger robustness and parameter adjustment ability to achieve good tracking performance.The simulation results show that this control strategy can effectively improve the tracking accuracy of the electro-hydraulic servo system of the mine sweeper,and has strong robustness.

关 键 词：电液伺服 自适应控制 鲁棒控制 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]