含磁滞补偿的电液伺服系统预设性能跟踪控制

针对电液伺服系统普遍存在的参数不确定性、不确定非线性(磁滞、摩擦、外干扰等)，提出一种基于自适应鲁棒控制的含磁滞补偿的预设性能跟踪控制策略。以阀控单出杆液压缸位置伺服系统为例，首先建立了含磁滞非线性的系统数学模型，然后通过定义预设性能函数，实现了对跟踪误差收敛速率、最大超调量和稳态精度的预先规划，基于规划后的转换误差设计了自适应鲁棒控制器，并提高了稳态和瞬态跟踪性能。仿真对比结果表明：该控制策略可以减小磁滞对系统跟踪精度的影响，提高跟踪误差的收敛速度，减小最大超调量，最终实现优良的跟踪性能。

Prescribed Performance Tracking Control of Electro-hydraulic Servo Systems with Hysteresis Compensation

For the common parametric uncertainties and uncertain nonlinearities(hysteresis, nonlinear friction, external disturbances, et al) existing in electro-hydraulic servo systems, a novel method was proposed, which was based on adaptive robust control, and named prescribed performance tracking control with hysteresis compensation. First, taking valve controller single-rod hydraulic cylinder position servo system for instance, a mathematic model consisting of hysteresis nonlinearity was constructed. And then, a prescribed performance function was utilized to characterize the convergence rate, maximum over-shoot, and steady-state errors. At last, an adaptive robust controller was design based on the planned tracking errors to guarantee the excellent steady-state performance and transient performance. Extensive simulations show that the proposed controller can attenuate the hysteresis effects on the tracking accuracy, improve the convergence rate, reduce the over-shoot, and eventually achieve an excellent tracking.