摘要
针对电液伺服系统存在的参数不确定性、非匹配干扰等问题,提出了一种反步积分终端滑模自抗扰控制器(BITSMC-ADRC)。基于模型设计了一种扩张状态观测器(ESO)对总扰动进行估计,并采用反步法设计积分终端滑模控制律,从而降低系统的跟踪误差。其次基于Lyapunov理论对所提控制器的稳定性进行分析。最后通过仿真对比试验对BITSMC-ADRC的性能进行验证。研究结果表明,针对未知非匹配干扰下的类正弦信号,该控制器平均跟踪误差与PID控制器和反步滑模自抗扰控制器(BSMC-ADRC)相比分别降低了67.1%,37.9%;针对阶跃信号,该控制器响应速度为0.4 s,优于BSMC-ADRC的0.45 s和PID控制器的1.1 s。
To solve the problems of parameter uncertainty and non-matching interference in the valve-controlled swing motor system,a backstepping integral terminal sliding mode active disturbance rejection controller(BITSMC-ADRC) is proposed.An expanded state observer(ESO) is designed based on the model to estimate the total perturbation,and the backstepping method is used to design the integral terminal sliding mode control law,aiming to reduce the tracking error of the system.The stability of the proposed controller is proved by the Lyapunov theory.Finally,the performance of the BITSMC-ADRC is verified by simulation comparison tests.The results show that for sinusoidal-like signals under unknown mismatching disturbances,the average tracking error of the BITSMC-ADRC is reduces by 67.1% and 37.9% compared to the PID controller and the BSMC-ADRC,respectively;and for step signals,the response speed of proposed controller is 0.4 s,which is faster than that of the BSMC-ADRC(0.45 s) and that of the PID controller(1.1 s).
作者
沈伟
陈丁翔
SHEN Wei;CHEN Dingxiang(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《组合机床与自动化加工技术》
北大核心
2025年第2期131-134,141,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(51975376)
上海市自然科学基金项目(23ZR1444400)。
关键词
电液伺服系统
自抗扰控制
反步积分终端滑模
参数不确定
elector-hydraulic servo system
ADRC
backstepping integral terminal sliding mode
mismatched disturbances
