具有输入饱和的电液伺服位置系统自适应动态面控制

针对具有非线性、参数不确定性及输入饱和问题的电液伺服位置系统,提出了一种自适应动态面控制器的设计方法.该方法充分考虑饱和特性,利用双曲正切函数和辅助控制信号对系统非线性模型进行等价变换,进而采用动态面方法设计抗饱和控制器.设计过程中引入Nussbaum函数,以补偿输入饱和引起的非线性项.通过构造合适的Lyapunov函数,证明闭环系统的所有信号一致最终有界.仿真结果表明,所设计的控制器具有良好的跟踪效果,并有效地削弱了输入饱和对系统造成的不良影响.

Adaptive dynamic surface control for electro-hydraulic servo position system with input saturation

A controller design method based on adaptive dynamic surface is proposed for electro-hydraulic servo position system containing nonlinearity, parameter uncertainties and input saturation problem. Taking the saturation characteristic into account sufficiently, we use a hyperbolic tangent function and an auxiliary control signal to achieve equivalent transformation of the nonlinear model. The anti-windup controller is thus obtained by using dynamic surface method. In the design process, a Nussbaum function is introduced to compensate for the nonlinear term arising from the input saturation. It is proved by constructing appropriate Lyapunov function that all the signals in the closed-loop system are uniformly ultimately bounded. The simulation results show that the designed controller works with good tracking effect and reduces the adverse effects caused by input saturation effectively.