基于AMESim和反步控制器的阀控电液伺服系统滑模控制分析

为了有效消除阀控电液伺服系统受到匹配干扰影响,采用反步法对系统非匹配干扰进行补偿,并引入了光滑连续一阶可导滑模控制技术,消除了滑模控制和反步控制过程的冲突。分析阀控电液伺服系统组成,建立了阀控电液伺服系统数学模型,并展开联合仿真分析。结果表明:在所有控制阶段中,滑模反步控制器都实现了有效抑制未知非匹配干扰程度,达到稳定的滑模反步控制状态后不会发生抖动情况。滑模反步控制器相对于反步控制器和PID控制器具备更小的稳态跟踪误差最大值和误差均方,可以获得更优的控制效果。滑模反步控制器同时具备反步控制和滑模控制的优势,不需要构建未知系统精确数学模型也可以获得良好控制效果。

Sliding Mode Back-stepping Control Method for Valve-controlled Electro-hydraulic Position Servo System

In order to effectively eliminate the influence of matching interference on the valve-controlled electro-hydraulic servo system, the inverse step method was used to compensate the unmatching interference of the system, and the smooth continuous first order guideable sliding mode control technology was introduced to eliminate the conflict between sliding mode control and backstepping control process. In the analysis of the composition of the valve-controlled electro-hydraulic servo system, the mathematical model of the valve-controlled electro-hydraulic servo system is established, and the joint simulation analysis is carried out. The results show that in all control stages, the sliding mode backstep controller can effectively suppress the unknown unmatched interference, and the stable sliding mode backstep control state will not occur jitter.Compared with the backstepping controller and PID controller, adopting sliding-mode backstepping controller can obtain better control effect. Since the sliding mode backstepping controller has the advantages of both backstepping control and sliding mode control, it is not necessary to construct the precise mathematical model of unknown system to obtain good control effect.