电液伺服位置系统的变结构自适应鲁棒控制

该文建立了电液伺服位置系统的带有时变参数和非线性特性的三阶模型。在此基础上。基于滑模控制理论，对其设计了一种具有参数自适应能力的自适应滑模变结构控制器。从初始状态到达滑模面这段运动时间内和在滑模面上运动时，依赖于一个时间函数使系统在两个不同的控制律之间进行切换，以满足不同运动阶段的要求。此外在应用变结构控制的同时，通过参数自适应来消除系统不确定性对控制性能的影响，进而增加了系统的鲁棒性。然后基于李亚普诺夫稳定性理论证明了所设计系统的渐近稳定性。最后将此方法应用于冷轧机电液伺服位置系统进行仿真，结果表明这种针对不同运动阶段的特点所设计的控制器满足了变结构控制的可达条件，达到了减小系统到达滑模面的时间和削弱抖振的目的。与传统的变结构控制对比。该文所设计的控制器在减小响应时间、抑止超调和提高鲁棒性方面都具有先进性。

Adaptive Robust Variable Structure Control of Electro-hydraulic Servo Position System

In this paper,the math model of an electro-hydraulic servo position system described by a third-order nonlinear equation with time-varying coefficients is set up.And a design method of two-phase VSC(Variable Structure Control) adaptive control with parameter adaptive performance is presented based on sliding mode variable structure control theory.In the reaching phase and during the sliding phase,two different controllers are designed respectively,and they are adopted relying on a time function in order to meet different requirements in different phases.Moreover,to eliminate the influence of parameter uncertainty on the control performances,an adaptive method is adopted,then the system's robustness is increased.The asymptotical stability of adaptive two-phase VSC system is proved based on Lyapunov stability theory.The proposed adaptive sliding mode control method is applied to an electro-hydraulic servo position control system of cold rolling mill.The results of simulation show that the method proposed in this paper can meet the reaching request of VSC,reduce the reaching time and chattering.Compared with traditional VSC,the proposed method has advantages in reducing responding time,restraining overload and increasing robustness of system.