电液伺服系统驱动机械臂的自适应反步法控制  

Research on adaptive backstepping control of manipulator driven by electro-hydraulic servo system

作　　者：王星坤 梁全[1] 高俊 王忠伟 WANG Xingkun;LIANG Quan;GAO Jun;WANG Zhongwei(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《重型机械》2024年第2期76-83,共8页Heavy Machinery

摘　　要：在实际应用中,电液伺服系统存在非线性和参数不确定的特性,并且在作动器运动过程中可能受到外部随机干扰,会对电液伺服系统的控制造成较大影响。为了改善电液伺服系统在参数不确定性和未知扰动(即水力参数和外部负载)下的动态行为。首先,利用基于李亚普诺夫的反步法对电液伺服系统进行控制。然后,利用基于李亚普诺夫的参数自适应反步法对外部随机干扰和系统非线性进行抑制或补偿的控制方法进行了研究,比较了这两种控制策略的优缺点。表明了基于李亚普诺夫的的参数自适应反步法对于多个未知参数的情况下进行估计系统仍能保证具有的良好性能。In practical application,the electro-hydraulic servo system has the characteristics of nonlinearity and uncertain parameters,and may be disturbed by external random interference during the movement of the actuator,which will have a great impact on the control of the electro-hydraulic servo system.In order to improve the dynamic behavior of electro-hydraulic servo system under parameter uncertainty and unknown disturbance(i.e.hydraulic parameters and external load).Firstly,the electro-hydraulic servo system is controlled by using the backstepping method based on Lyapunov.Then the control method of restraining or compensating external random interference and system nonlinearity is studied by using parameter adaptive backstepping based on Lyapunov,and the advantages and disadvantages of these two control strategies are compared.It shows that the parameter adaptive backstepping method based on Lyapunov can still guarantee good performance of the system evaluated with multiple unknown parameters.

关 键 词：电液伺服系统 机械臂 自适应反步法 

分 类 号：TH137[机械工程—机械制造及自动化]