具有参数不确定和时变扰动的电液执行器高精度运动控制
High-Precision Motion Control for Electro-Hydraulic Actuators with Parametric Uncertainty and Time-Varying Disturbance
梁乾坤 1蔡衍 2宋锦春 1陈杰1
作者信息
- 1. 东北大学 机械工程与自动化学院,辽宁 沈阳 110819
- 2. 中国科学院沈阳自动化研究所 机器人学国家重点实验室,辽宁 沈阳 110016
- 折叠
摘要
针对具有参数不确定性、不匹配和匹配的时变扰动的电液执行器(electro-hydraulic actuator,EHA)系统,提出了一种渐近跟踪控制策略.首先,构造了一个扩展状态观测器(extended state observer,ESO)获得对不匹配时变扰动的精确估计及补偿;该ESO通过在经典ESO中引入鲁棒自适应项,得到了渐近估计结果,降低了鲁棒增益选择的保守性.然后,设计一个鲁棒自适应项来估计匹配扰动的上界,以消除匹配时变扰动的影响.此外,自适应律用于估计参数不确定性.通过李雅普诺夫稳定性理论证明了跟踪误差能渐近收敛至零.最后,通过仿真和实验验证了所提控制策略的有效性.
Abstract
An asymptotic tracking control strategy is proposed for electro-hydraulic actuator(EHA)systems with parametric uncertainty,mismatched and matched time-varying disturbance.Firstly,an extended state observer(ESO)is constructed to estimate and compensate for the mismatched time-varying disturbance accurately.By introducing the robust adaptive term into the classical ESO,the asymptotic estimation result is obtained,and the conservatism of robust gain selection is reduced.Then,a robust adaptive term is designed to estimate the upper bound of the matched disturbance to eliminate the effect of the matched time-varying disturbance.In addition,adaptive laws are used to estimate the parametric uncertainty.Through the Lyapunov stability theory,it is proved that the tracking error can asymptotically converge to zero.Finally,the effectiveness of the proposed control strategy is verified by simulation and experiment.
关键词
电液执行器/扩展状态观测器/时变扰动/参数不确定/渐近稳定Key words
electro-hydraulic actuator(EHA)/extended state observer(ESO)/time-varying disturbance/parametric uncertainty/asymptotic stability引用本文复制引用
出版年
2024
NETL
NSTL
万方数据