考虑输入时滞的舵机伺服系统自适应指令滤波输出反馈控制  

Command Filter-Based Adaptive Output Feedback Control for Steering Gear Servo Systems Considering Input Delay

作　　者：郭峻秀 胡健[1] 姚建勇[1] 黄玲[1] 谭天乐 刘宇 GUO Junxiu;HU Jian;YAO Jianyong;HUANG Ling;TAN Tianle;LIU Yu(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Shanghai Institute of Aerospace Control Technology,Shanghai 201108,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]上海航天控制技术研究所,上海201108

出　　处：《西安交通大学学报》2024年第3期149-161,共13页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(51975294);上海市空间智能控制技术重点实验室资助项目(D030313);中央高校基本科研业务费专项资金资助项目(30922010706)。

摘　　要：针对舵机伺服系统运行过程中存在复杂非线性以及信号输入时滞、使系统的精度降低,严重时甚至造成系统失稳的问题,提出了一种考虑输入时滞的自适应指令滤波输出反馈控制策略。首先,将系统中存在的输入时滞考虑为控制器信号输入时滞,给出舵机伺服系统状态方程,选用梯度下降法设计时滞估计律对未知时滞进行估计;其次,将系统中存在的复杂非线性统一为扰动,选用扩展状态观测器(ESO)加以估计,将观测的系统状态值用于设计控制量实现输出反馈控制;然后,选用指令滤波将高阶求导过程转化为求积分,实现信号滤波以抑制微分噪声;最后,基于Lyapunov-Krasovskii泛函稳定性定理证明控制器实现系统有界稳定。仿真及实验表明,所提的控制方法与传统反步控制方法、自抗扰控制和比例微分积分(PID)控制方法相比,响应时间分别提升了92%、88%和51%,跟踪精度分别提升了90%、84%和26%。To address complex nonlinearity and signal input delay during the operation of a steering gear servo system,which reduce system accuracy and even cause system instability in serious cases,a command filter-based adaptive output feedback control strategy considering input delay is proposed.Firstly,the input delay in the system is considered as delay in the controller signal input,the equation of state for the servo system is given,and the delay estimation law designed using the gradient descent method is employed to estimate the unknown delay.Secondly,the complex nonlinearities in the system are unified as disturbances,and an extended state observer(ESO)is utilized to estimate these disturbances.The observed system state values are then used to design control variables to achieve output feedback control.Thirdly,a command filter is employed to transform the higher derivation process into an integration one,achieving signal filtering to suppress differential noise.Lastly,the controller’s ability to achieve bounded stability of the system is proven based on the Lyapunov-Krasovskii functional stability theorem.Simulation and experimental results show that the proposed control method improves the response time by 92%,88%,and 51%,and the tracking accuracy by 90%,84%,and 26%,respectively,compared with the traditional methods of backstepping control,active disturbance rejection control,and PID control.

关 键 词：舵机伺服系统 输入时滞 输出反馈 指令滤波 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]