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基于扩张滑模观测器的电液伺服系统鲁棒控制

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为了提高电液伺服系统(EHSSs)控制性能，考虑外部干扰力、摩擦力、参数变动、结构振动及未建模特性等系统不确定性，构建系统状态空间模型。为了应对系统不确定性，提出新型扩张滑模观测器(ESMO)，用于同时估计系统全状态和系统不确定性，并结合等值注入原理及饱和函数进行合理优化。利用系统不确定性的估计值，在反步控制设计中引入障碍Lyapunov函数，将系统的跟踪误差约束在一定范围内，结合参数自适应律，提高系统控制性能。为了验证所提控制方法的性能，在MATLAB/Simulink软件平台构建仿真模型，进一步地，搭建电液伺服系统实验台及实时控制系统，进行仿真和实验验证。结果表明所提方法的性能优于基于障碍Lyapunov函数的反步控制器及传统的反步控制器。
Extended sliding mode observer-based robust tracking control scheme for electro-hydraulic servo systems
A state-space model was constructed by considering system uncertainties such as external disturbances,friction force,parameter uncertainties,structural vibrations as well as unmodeled characteristics,in order to improve the control performance of electro-hydraulic servo systems(EHSSs).A novel extended sliding mode observer(ESMO)was proposed to simultaneously estimate the system full-state and the system uncertainties,in order to address the system uncertainties.The ESMO was optimized using the equivalent injection principle and proper saturation functions.The estimated value of the system uncertainties was then utilized in the design of the backstepping control architecture,where a barrier Lyapunov function(BLF)was introduced to constrain the tracking error within a desired certain range.In addition,parameter adaptation laws were incorporated to enhance the control performance of the system.A simulation model was established in the MATLAB/Simulink software,to validate the performance of the proposed control methodology.What's more,an experimental setup of the EHSS was implemented,and some real-time control experiments were conducted.The results from both simulation and experiment demonstrate that the proposed methodology outperforms the BLF-based backstepping controller and the traditional backstepping controller.

electro-hydraulic servo systemsystem uncertaintyextended sliding mode observerparameter adaptionbarrier Lyapunov functionbackstepping control

臧万顺、沈刚、赵军、臧克江

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青岛理工大学信息与控制工程学院,山东青岛 266520

安徽理工大学安徽省煤矿安全采掘装备制造业创新中心,安徽淮南 232001

安徽理工大学机电工程学院,安徽淮南 232001

山东科技大学交通学院,山东青岛 266590

龙岩学院物理与机电工程学院,福建龙岩 364012

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电液伺服系统 系统不确定性 扩张滑模观测器 参数自适应 障碍Lyapunov函数 反步控制

山东自然科学基金资助项目山东自然科学基金资助项目国家自然科学基金资助项目国家自然科学基金资助项目安徽省煤矿安全采掘装备制造业创新中心开放课题基金资助项目江苏省自然科学基金杰出青年基金资助项目福建省科技厅引导性资助项目龙岩市科技计划重点资助项目龙岩学院科学研究启动基金资助项目山西省揭榜招标项目

ZR2021QE107ZR2022QF011U21A2012562203279CMSMEICAP2023007BK202000292020Y00882020LYF9002LB201803520201101010

2024

10.3785/j.issn.1008-973X.2024.03.018

浙江大学学报(工学版)
浙江大学

浙江大学学报(工学版)

CSTPCD北大核心
影响因子：0.625
ISSN：1008-973X
年,卷(期)：2024.58(3)
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