基于严格反馈模型的电液伺服作动器控制策略研究  

Research on Control Strategy of Electro-hydraulic Servo Actuators Based on Strict Feedback Model

作　　者：倪涛 吕博 张泮虹 赵泽仁 孙旭 张红彦[2] NI Tao;LYU Bo;ZHANG Panhong;ZHAO Zeren;SUN Xu;ZHANG Hongyan(School of Vehicle and Energy,Yanshan University,Qinhuangdao,Hebei,066000;College of Mechanical and Aerospace Engineering,Jilin University,Changchun,130022)

机构地区：[1]燕山大学车辆与能源学院,秦皇岛066000 [2]吉林大学机械与航空航天学院,长春130022

出　　处：《中国机械工程》2024年第5期928-937,949,共11页China Mechanical Engineering

基　　金：河北省重点研发计划(21351802D);吉林省重点研发计划(20200401130GX)。

摘　　要：主动悬架可根据车辆实时状态调节悬架参数,显著提高应急救援车辆救援效率,电液伺服作动器是电液伺服主动悬架系统实施主动控制的核心部件。对电液伺服作动器控制策略展开了研究,建立了主动悬架液压伺服作动器模型;基于该模型提出了基于严格反馈模型的自适应位置跟踪控制策略,并证明了该策略在Lyapunov意义下的稳定性。仿真和单缸实验验证表明,与传统控制方法相比,所提出的位置跟踪算法可有效提高电液伺服作动器的位置跟踪性能。The active suspension might adjust the suspension parameters according to the real-time status of the vehicles,which greatly improved the rescue efficiency of emergency rescue vehicles.Electro-hydraulic servo actuator was the core component of active control of electro-hydraulic servo active suspension system,the control strategy of electro-hydraulic servo actuator was studied.The active suspension hydraulic servo actuator model was established.Then,based on the model,an adaptive position tracking control strategy was proposed based on a strict feedback model,and the stability of the proposed strategy in the Lyapunov sense was proved.The simulation and single-cylinder experiments show that the position tracking algorithm proposed may effectively improve the position tracking performance of electro-hydraulic servo actuators compared with the traditional control methods.

关 键 词：三轴应急救援车辆 主动悬架 电液伺服作动器 位置跟踪 自适应 

分 类 号：U463.33[机械工程—车辆工程]