电液伺服系统的非线性积分滑模变结构控制
Nonlinear integral sliding mode variable structure control for electro-hydraulic servo system
孙春耕 1刘靖 1李骥鹏1
作者信息
- 1. 昆明理工大学 机电工程学院,昆明 650500
- 折叠
摘要
针对存在初始误差时积分滑模控制器导致电液伺服系统暂态性能恶化甚至不稳定的问题,提出了一种非线性积分滑模变结构控制方法.考虑到系统的不确定性以及外干扰问题,建立电液伺服系统的非线性数学模型;把一种能够将小误差放大、大误差饱和的非线性函数引入积分滑模面中,形成非线性积分滑模面,并通过Lyapunov稳定性理论证明了在该控制方法下系统的稳定性;在Matlab/Simulink环境中搭建电液伺服系统模型和非线性积分滑模控制器模型,并与滑模控制器以及常规积分滑模控制器仿真结果比较.结果表明:该控制器不仅消除了系统的超调量,还将调节时间缩短了43.33%;与滑模控制器相比,该控制器的位移跟踪精度提高了40.16%.因此,应用非线性积分滑模控制器的电液伺服系统不仅能够提高跟踪精度,还能改善系统的暂态性能.
Abstract
The integral sliding mode controller may lead to the deterioration of the transient performance or even instability of the electro-hydraulic servo system when there is an initial error.To address the problem,we propose a nonlinear integral sliding mode variable structure control method.First,considering the uncertainty of the system and the problem of external disturbance,the nonlinear mathematical model of the electro-hydraulic servo system is built.Then,a nonlinear function which enlarges the small error and saturates the large error is introduced to the integral sliding mode surface to form a nonlinear integral sliding mode surface and the stability of the system under this control method is proved by Lyapunov stability theory.Finally,the models of the electro-hydraulic servo system and the nonlinear integral sliding mode controller are built in the Matlab/Simulink environment.Our results are compared with the simulation results of the sliding mode controller and the integral sliding mode controller.They suggest the controller eliminates the overshoot of the system and shortens the adjustment time by 43.33%compared with the integral sliding mode controller.The displacement tracking accuracy is improved by 40.16%compared with that of the sliding mode controller.Therefore,the electro-hydraulic servo system with nonlinear integral sliding mode controller improves the tracking accuracy and the transient performance of the system.
关键词
电液伺服系统/非线性积分滑模控制器/位置跟踪/暂态性能Key words
electro-hydraulic servo system/nonlinear integral sliding mode controller/position tracking/transient performance引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据