| 不确定电液位置伺服系统的动态面跟踪控制 |
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| 引用本文： | 李文磊,蒋刚毅.不确定电液位置伺服系统的动态面跟踪控制[J].光电工程,2007,34(2):55-59,64. |
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| 作者姓名： | 李文磊 蒋刚毅 |
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| 作者单位： | 宁波大学,信息科学与工程学院,浙江,宁波,315211 |
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| 基金项目： | 浙江省教育厅资助项目
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浙江省高等学校青年教师资助计划 |
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| 摘 要： | 针对一类含有动态不确定性的双作用液压缸电液伺服系统跟踪控制问题,采用动态面控制方法设计了一个鲁棒自适应跟踪控制器.由于在逆推设计过程中加入了低通滤波器使得该方法不用对模型非线性进行多次微分,因而设计方法简化.所设计的自适应鲁棒控制器不仅能保证闭环系统的半全局渐近稳定,使得输出渐近跟踪期望轨迹;而且,跟踪误差可以通过控制器的设计参数加以调整.数字仿真结果表明,控制系统对给定位置的跟踪具有良好的动态特性,对系统的不确定性,具有较强的鲁棒性.
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| 关 键 词： | 电液伺服系统 动态面控制 逆推方法 参数不确定性 外部干扰 |
| 文章编号： | 1003-501X（2007）02-0055-05 |
| 收稿时间： | 2006/4/6 |
| 修稿时间： | 2006-04-062006-10-26 |
Tracking control of electro-hydraulic position servo system with uncertainty using dynamic surface method |
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| LI Wen-lei,JIANG Gang-yi.Tracking control of electro-hydraulic position servo system with uncertainty using dynamic surface method[J].Opto-Electronic Engineering,2007,34(2):55-59,64. |
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| Authors: | LI Wen-lei JIANG Gang-yi |
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| Affiliation: | College of Information Science and Engineering, Ningbo University, Ningbo 315211, China |
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| Abstract: | Based on the dynamic surface control method, an adaptive robust controller is designed for solving the tracking control problem of electro-hydraulic position servo system with dynamic uncertainties. The addition of low pass filters in backstepping design procedure allows the dynamic surface control method to be implemented without differentiating any model nonlinearities, which simplifies the design. The proposed adaptive robust controller guarantees the closed-loop semi-globally asymptotically stable, and output asymptotic tracking expected trajectory. Besides, the final tracking accuracy could be adjusted via certain controller parameters. The simulation results show that the proposed controller has a prescribed output tracking transient performance and robustness for the uncertainties oftbe system. |
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| Keywords: | Electro-hydraulic servo system Dynamic Surface control Backstepping method Parameter uncertainty External disturbances |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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