动压缸电液伺服压力系统自适应反步双滑模控制

给出了轨道路基测试装置液压原理图、动压缸电液伺服压力系统数学模型和AMESim模型。将动压缸电液伺服压力系统拆分为动压缸位移子系统和动压缸输出压力子系统两部分,在此基础上,设计了一种自适应反步滑模控制方法:采用双滑模结构,分别构造动压缸位移子系统滑模自适应控制和动压缸输出压力子系统反步滑模自适应控制,给出了不确定参数的自适应律,并对该方法的稳定性进行了证明。最后将该方法作用于动压缸电液伺服压力系统AMESim模型上,仿真结果表明:该方法不仅可以有效地估计系统中参数,实现对目标期望变量精确地跟踪,具有比积分滑模自适应控制(ISAC)更好的控制性能和跟踪性能;而且可以有效地减小参数不确定性对跟踪性能的影响,具有较好的鲁棒性能。

Adaptive Backstepping Double Sliding Mode Control for Dynamic Pressure Cylinder Electro-hydraulic Servo Pressure System

The hydraulic principle diagram of the subgrade test device, the dynamic pressure cylinder electro-hydraulic servo pressure system math model and AMESim simulation model are provided. Divided the system into two parts of the dynamic pressure cylinder displacement subsystem and the dynamic pressure cylinder output pressure subsystem, on this basis, an adaptive backstepping sliding mode control method was designed: using the double sliding mode structure, constructed separately adaptive sliding mode control for dynamic pressure cylinder displacement subsystem and adaptive backstepping sliding mode control for dynamic pressure cylinder output pressure subsystem, adaptive law of uncertain parameters was provided, and the stability of the method was proved. Finally, applied the method to the dynamic pressure cylinder electro-hydraulic servo pressure system AMESim model, simulation results show that: this method can not only effectively estimate the parameters of the system, achieve accurate tracking of the target variables, have better control and tracking performance compared with integral sliding mode adaptive control (ISAC); but also can effectively reduced the effect of parameter uncertainty on tracking performance, and have good robust performance.