电液力伺服系统自适应抗扰控制研究

考虑到电液伺服系统中存有各种非线性因素、不确定干扰以及参数时变，为了提高干扰下电液力伺服系统的控制精度，以电液伺服振动实验台作为控制对象，构建其非线性模型，同时使用参数自适应率对不定参数进行补偿，并在反演控制器中引入滑模控制以降低系统的干扰敏感性，利用Lyapunov理论保证闭环系统的全局稳定。对设计的控制器进行实验，模拟在有未知外部位置干扰下的力控制，提升系统的稳定性。实验结果证明，此控制方法能够有效地提升电液力伺服系统的抗干扰跟踪性能。

Adaptive Disturbance Rejection Control of Electro-hydraulic Force Servo System

 Considering the nonlinear factors, external uncertain disturbances and time-varying parameters existed in the electro-hydraulic system, a nonlinear model based on electro-hydraulic shaking table is built in order to improve the force tracking precision. Parameter adaptation control is applied to compensate indefinite parameters and the backstepping controller with sliding mode surface is designed for the system, which is designed to reduce the sensitivity of disturbances. The proposed controller can guarantee the stabilization of the closed-loop system with the theory of Lyapunov. In order to verify the effectiveness of the designed controller, a series of experiments are conducted considering the external unknown disturbances. Experimental results show that the proposed control strategy is effective to improve the anti-interference tracking performance of the electro-hydraulic force servo system.