基于滑模自适应控制的电液位置伺服系统低速性能改善

在低速、超低速运行时，电液伺服系统受到以摩擦力为主的干扰力矩和参数不确定性等扰动，进而影响电液位置伺服系统的低速性能。该研究从低速平稳性和跟踪精度两个角度出发，分析了电液位置伺服系统低速性能的主要影响因素，提出了一种滑模自适应控制方法。并将该方法应用于某硅钢厂电液单辊CPC系统，进行了仿真。研究表明，在考虑系统非线性、扰动及参数不确定性的情况下，该研究的滑模自适应控制方法能够有效地抑制抖振并获得伺服系统的低速平稳、快速跟踪。

The Low Speed Performance Improvements of Electro hydraulic Position Servo System Based on Sliding Mode Adaptive Control

In low speed, super low speed running, the electro hydraulic servo system is disturbed by disturbing torque that mainly composes of friction, parameter uncertainties, and so on. These even affect the low speed performance of system. Focusing on stability and tracking precision, the main influence factors of the low speed performance of the electro hydraulic position servo system are analyzed, and the sliding mode adaptive control method is proposed. The control method is used in the electro hydraulic single roller CPC system of a silicon steel mill. The hybrid simulation is carried out. Results show that the sliding mode adaptive control method can effectively suppress the chattering effect and make the servo system stable and the tracking fast in low speed running when considering nonlinearity of system, disturbance and parameter uncertainty.