基于摩擦补偿的多扰动电液位置伺服系统自适应反步-ESO控制  

Adaptive Backstepping-ESO Control for Electro-Hydraulic Position Servo Systems with Multiple Disturbances Using the Compound Friction Compensation

作　　者：张新星 饶俊森 戴开宇 张兵[1] 王雷刚[2] ZHANG Xinxing;RAO Junsen;DAI Kaiyu;ZHANG Bing;WANG Leigang(School of Mechanical Engineering,Jiangsu University,Zhenjiang Jiangsu 212013,China;School of Materials Science&Engineering,Jiangsu University,Zhenjiang Jiangsu 212013,China)

机构地区：[1]江苏大学机械工程学院,江苏镇江212013 [2]江苏大学材料科学与工程学院,江苏镇江212013

出　　处：《机床与液压》2025年第3期20-26,共7页Machine Tool & Hydraulics

基　　金：江苏大学自制实验仪器设备项目(ZZYQSB202204);国家自然科学基金项目(51805215)。

摘　　要：来自摩擦、匹配和不匹配的不确定性的多重干扰使电液伺服系统(EHS)难以获得令人满意的位置跟踪性能。现有的自适应反步控制器无法有效区分机械子系统和液压子系统之间的扰动差异,限制了多重扰动的补偿效果,特别是对于摩擦非线性。因此,提出复合摩擦补偿的自适应反步-ESO(扩展状态观测器)位置跟踪控制器,实现机械子系统的快变摩擦扰动和液压子系统的慢变匹配扰动的快速补偿。ESO算法被集成到自适应反步控制器中抑制平均跟踪误差的零偏。复合摩擦补偿融合基于LuGre模型的补偿和高阶扰动观测器,显著提高系统的跟踪性能,避免观测器增益过高。为了验证控制器的有效性,在搭建的电液伺服试验平台上进行了大量的对比试验来验证所提出的控制器的有效性。Multiple disturbances from uncertainties in friction,matching,and mismatching make it challenging for electro-hydraulic servo systems(EHS)to achieve satisfactory position tracking performance.Existing adaptive backstepping controllers are unable to effectively distinguish disturbance differences between mechanical subsystem and hydraulic subsystem,limiting the compensation effect for multiple disturbances,especially for friction nonlinearity.Therefore,a composite friction compensation adaptive backstepping-ESO(extended state observer)position tracking controller was proposed to achieve rapid compensation for fast-varying friction disturbances in the mechanical subsystem and slow-varying matching disturbances in the hydraulic subsystem.The ESO algorithm was integrated into the adaptive backstepping controller to suppress the zero offset of average tracking error.Composite friction compensation integrated compensation based on the LuGre model and a high-order disturbance observer,significantly improving the system's tracking performance and avoiding excessively high observer gains.To validate the effectiveness of the controller,numerous comparative experiments were conducted on the constructed electro-hydraulic servo test platform to verify the proposed controller's effectiveness.

关 键 词：电液系统伺服 位置控制 多重扰动 摩擦补偿 

分 类 号：TH137[机械工程—机械制造及自动化]