火炮高平机电液伺服系统自适应动态面反演控制

针对火炮高平机电液伺服系统存在的负载惯量大、运动过程非线性特性显著、同时存在非匹配不确定性和不确定非线性、外部干扰未知等问题,提出一种自适应动态面反演控制方法。推导建立了系统的数学模型并为每阶系统设计Lyapunov函数和虚拟控制量,逐步反演得到控制律。引入动态面控制方法消除反演过程微分项的膨胀,采用自适应律实现控制过程中未知参数的在线估计,并对控制器稳定性进行了理论证明。借助ADAMS-AMESim-Simulink进行系统的联合仿真,结果表明该方法能实现高平机快速上行与下行,压力波动较小,获得了较好的动态跟踪精度,稳态误差满足要求,具有较强的鲁棒性。

Adaptive Dynamic Surface Backstepping Control for Electro-Hydraulic Servo System of Artillery Elevating Equilibrator

An adaptive dynamic surface backstepping control approach was proposed for electro-hydraulic servo system of artillery elevating equilibrator with large inertia load,non-linear characteristics of motion process,nonmatching uncertainty,uncertain non-linearity,and unknown external distur-bance.To gain control law by the backstepping design process,the mathematic model of system is deduced and the function of Lyapunov and virtual control quantity are designed for every order of the system.The dynamic surface control method is introduced to eliminate the expansion of the differential term with adaptive laws adopted to realize the online estimation of unknown parameters in the control process.Besides,the stability of controller is proved by the theory.The ADAMS-AMESim-Simulink co-simulation results show the method achieves the fast upward and downward movement of the elevating equilibrator,and satisfies the requirements through small pressure fluctuations,fairly good trac-king accuracy,stronger robustness,and steady-state errors.