电液位置伺服系统的自适应抗饱和控制

针对电液位置伺服系统的不确定性与输入饱和问题，提出自适应抗饱和控制策略。建立阀控缸系统的数学模型；在基于反步法的设计框架下，将输入饱和导致的跟踪误差加入到李亚普诺夫函数当中，并根据该李亚普诺夫函数设计控制器。通过使李亚普诺夫函数渐近稳定，使得系统跟踪误差收敛于零。针对系统模型中的不确定参数，通过自适应算法对其进行迭代更新，以保证控制器的有效性。以跟踪误差最小为目标函数，采用粒子群搜索算法优化控制器的4个参数。结果表明：加入抗饱和时的控制信号比未考虑输入饱和时的控制信号的幅值明显减小，消除了输入饱和现象；在参数不确定和输入饱和情况下液压缸活塞的最大跟踪误差仅为5.8×10-6mm，相对无抗饱和算法时的跟踪误差有了大幅减小。

Adaptive Anti Saturation Control for Electro-Hydraulic Position Servo System

Aiming at the problem of uncertainty and input saturation for electro-hydraulic position servo system, an adaptive anti saturation control strategy was proposed.The mathematical model of a valve controlled cylinder system was established;in the design framework based on backstepping, the tracking error caused by input saturation was added to the Lyapunov function, and the controller was designed according to this Lyapunov function. By making the Lyapunov function asymptotically stable, the tracking error of the system was converged to zero. For the uncertain parameters in the system, the adaptive algorithm was used to update them iteratively to ensure the effectiveness of the controller. Taking the minimum tracking error as the objective function, the particle swarm search algorithm was used to optimize the four parameters of the controller. The results show that the amplitude of anti saturation control signal is significantly reduced compared with that without input saturation, and the input saturation phenomenon is eliminated; under the condition of parameter uncertainty and input saturation, the maximum tracking error of hydraulic cylinder is only 5.8×10-6mm, compared with no anti saturation algorithm, the tracking error is greatly reduced.