阀控非对称缸系统的反馈线性化滑模控制

针对阀控非对称缸组成的位置伺服系统鲁棒性差的问题,提出了一种结合反馈线性化理论和滑模变结构理论的控制算法。建立阀控非对称缸的非线性模型,运用反馈线性化理论对该模型进行局部线性化,针对线性化后的模型设计滑模控制器,最后通过线性逆变换得到原非线性系统的控制算法。为了验证算法的有效性进行了仿真分析,仿真结果表明:该控制算法有效地减小了位置跟踪误差,提高了系统的鲁棒性,改善了位置跟踪的品质。

The Control for Vale Controlled Asymmetrical Cylinder Based on Feedback Linearization and Sliding Mode Control

In order to improve the performance of vale controlled asymmetric system, a hybrid control method combining feedback linearization and sliding mode variable structure control was proposed.A nonlinear model of vale controlled asymmetric position servo system model was translated into linear model by using feedback linearization method.Based on the linear model, a sidling mode control algorithm was designed which can be used in the nonlinear model by inverse linear transformation.Last, to compare the proposed hybrid method to the traditional PID method, the numerical simulation was carried out.The comparison shows that robust feedback linearization can effectively restrain the outside disturbance and improve hydraulic position on tracking accuracy.