基于自适应模糊滑模的大型液压起竖系统控制策略研究

大型液压起竖系统由于受到诸多外界干扰等因素的影响，存在很强的非线性特性和不确定性，难以实现起竖过程的精确跟踪控制。为实现起竖过程中的精确跟踪控制设计了一种自适应模糊滑模控制器，利用模糊系统的逼近特性逼近滑模的等效控制项，并用李雅普诺夫分析方法给出了自适应律，针对自适应参数难以确定的问题，用遗传算法对参数进行了优化。仿真结果表明，该控制方法有较强的抗干扰能力和良好的跟踪性能，提高了起竖过程的稳定性。

Research on Control Strategy of Large Hydraulic Erecting System Based on Adaptive Fuzzy Sliding Mode

The large hydraulic erecting system has strong nonlinearities and uncertainties due to heavy external load, variable circumstance, oil leakage, oil viscousness and external disturbance. All of these lead to the degradation of control performance in position tracking control of erecting process. An adaptive fuzzy sliding mode controller is designed to overcome these problems. A fuzzy system is developed to approximate the equivalent control of the sliding mode controller, and an adaptive law is presented by Lyapunov stability analysis method. However, the adaptive parameters cannot be precisely confirmed. So the genetic algorithm is applied to optimize the adaptive parameters. Simulation results show that the proposed control method has good robustness and tracking performance to improve the stability of the erecting process.