泵控电液伺服系统基于未知死区补偿的自适应鲁棒控制  

Adaptive Robust Control with Unknown Dead-zone Compensation for Pump Controlled Electro-hydraulic Servo System

作　　者：牛善帅 王军政[1,2] 赵江波 沈伟[1,2] NIU Shanshuai;WANG Junzheng;ZHAO Jiangbo;SHEN Wei(School of Automation,Beijing Institute of Technology,Beijing 100081;MIIT Key Laboratory of Drive and Control of Servo Motion Systems,Beijing 100081)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]伺服运动系统驱动与控制工业和信息化部重点实验室,北京100081

出　　处：《机械工程学报》2024年第18期327-337,共11页Journal of Mechanical Engineering

基　　金：群体协同与自主实验室开放基金课题(QXZ23013202);国家自然科学基金(62173038)资助项目。

摘　　要：针对泵控电液伺服系统中存在的未知死区特性、参数不确定性以及未知干扰,提出一种基于未知死区补偿的自适应鲁棒控制方法。建立泵控系统模型,分析系统中存在的死区非线性,并构造连续可微的近似死区逆函数对死区进行补偿。利用反步法设计自适应鲁棒控制器,合成自适应律进行参数估计,处理包括死区参数、系统参数以及干扰上界在内的参数不确定性;利用非线性鲁棒反馈进行未知干扰抑制。通过Lyapunov稳定性分析表明,在未知死区特性、参数不确定性以及未知干扰同时存在的情况下,所设计的控制器可以实现渐近跟踪。对比试验结果验证了所提出控制方法的可行性和优越性。An adaptive robust control method based on unknown dead-zone compensation is proposed for the input dead-zone characteristics,parameter uncertainties and unmodeled disturbances in pump controlled electro-hydraulic servo systems.The pump controlled system model is established to analyze the dead-zone nonlinearity in the system,and a smooth dead-zone inverse function is constructed to compensate the dead-zone.Then the adaptive robust controller is designed using the backstepping method,and the adaptive law is synthesized for parameter estimation to deal with parameter uncertainties including dead-zone parameters,system parameters,and upper bounds of disturbances;the nonlinear robust feedback is used for unknown disturbances suppression.The Lyapunov stability analysis shows that the designed controller can achieve asymptotic tracking in the presence of dead-zone characteristics,parameter uncertainties,and unmodeled disturbances simultaneously.The feasibility and superiority of the proposed control method are verified by comparative experiments.

关 键 词：自适应控制 鲁棒控制 死区补偿 泵控系统 电液伺服系统 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]