被动式电液力伺服系统的自适应反步滑模控制

针对被动式电液力伺服系统存在固有的多余力矩、控制伺服阀的非线性以及参数时变性问题,提出一种自适应反步滑模控制策略。建立系统的非线性状态空间方程;基于反步控制理论思想,通过3步递推法设计系统的反步控制器;在反步法递推的第3步结合滑模控制方法,选择合适的Lyapunov函数,给出系统不确定参数的自适应律,设计出非线性自适应反步滑模控制器,并利用Lyapunov稳定性定理对所设计的控制器稳定性进行证明。仿真和实验结果表明,该控制器能够有效地抑制多余力矩,并且对参数摄动及外界扰动具有较强的鲁棒性。

Adaptive Backstepping Sliding Mode Control of Passive Electro-hydraulic Force Servo System

An adaptive backstepping sliding mode control strategy is proposed for passive electro-hydraulic force servo system,which contains inherent extra torque,nonlinearity of servo valve and time-varying parameters.A nonlinear state space equation of the system is established.A backstepping controller is designed based on the backstepping control theory and three-step recursive method.A nonlinear adaptive backstepping sliding mode controller is designed by using the sliding mode control method in the third step of the backstepping method,selecting a proper Lyapunov function and gving the adaptive law of uncertain parameters.The stability of the controller is tested by the Lyapunov stability theory.Both the simulated and test results show that the controller can effectively restrain the extra torque and possesses a strong robustness to both parameter perturbation and external disturbance.