控制量前具有不确定系数的电液伺服系统自适应控制

针对控制输入前具有不确定系数的电液伺服位置系统精确跟踪控制问题, 提出了一种改进的自适应Backstepping控制器设计方法. 该方法通过对系统模型的等价变换和选择合适的Lyapunov函数, 有效解决了系统模型中控制输入前存在不确定系数而导致所设计的控制器存在参数自适应律, 而自适应律中存在控制量造成的嵌套难题. 以驱动连铸结晶器的电液伺服位置系统为例, 进行了控制器的设计和稳定性证明. 仿真研究结果表明, 所提出的改进设计方法是可行的, 设计的控制器具有较强的鲁棒性和良好的跟踪性能.

Adaptive controller for electro-hydraulic servo system with uncertain coefficients in control input

To design an accurate tracking control for the electro-hydraulic servo position system with uncertain coefficient in control input, an improved adaptive Backstepping controller design method is presented. By using the equivalent model transformation and selecting a proper Lyapunov function, the nesting problem caused by the mutual inclusion of parameter adaptive law and control input is effectively solved. This method is also applied to design a hydraulic drive servo system for a continuous cast mold and validate the stability. Simulation results show that the designed controller works with high robustness and desirable tracking performance.