摘要
本文研究了高性能电液位置伺服系统的鲁棒控制设计。这类系统 ,除了液压伺服系统的非线性动力学特性外 ,还包含大范围变化的不确定参数 ,其中既有不确定常数 ,也存在不确定的非线性干扰。为解决这一类非线性系统的控制问题 ,提出了基于反演控制设计和非连续自适应修正算法的自适应鲁棒控制器 (ARC)设计方法 ,给出了基于Lyapunov稳定性理论的系统稳定性证明。跟踪误差可以通过控制器的设计参数加以调整。数字仿真结果表明 ,控制系统对给定位置的跟踪具有良好的动态特性 ,对系统的不确定性 ,具有较强的鲁棒性。
The high performance robust position control of an electro-hydraulic servo system was studied. Aside from the nonlinear nature of hydraulic dynamics,the system also has large extent of model uncertainties,including parametric uncertainties and uncertainties nonlinearties. To solve this kind of problems,the recently proposed adaptive robust control (ARC) was applied which based on backstepping control technique and discontinuous projection method. The stability of the overall system was verified by the Lyapunov stability criterion. The final tracking accuracy could be adjusted via certain controller parameters. To investigate the performance of the proposed controller,numerical simulations were presented. It was shown that the proposed controller had a prescribed output tracking transient performance and had robust for the system’s uncertainties.
出处
《机床与液压》
北大核心
2003年第6期151-155,共5页
Machine Tool & Hydraulics
