北京航空航天大学学报 ›› 2014, Vol. 40 ›› Issue (12): 1736-1740.doi: 10.13700/j.bh.1001-5965.2013.0752

• 论文 • 上一篇    下一篇

阀控电液位置伺服系统非线性鲁棒控制方法

汪成文1,2, 尚耀星1, 焦宗夏1, 韩松杉1   

  1. 1. 北京航空航天大学 飞行器控制一体化技术重点实验室, 北京 100191;
    2. 太原理工大学 机械电子研究所, 太原 030024
  • 收稿日期:2014-01-09 出版日期:2014-12-20 发布日期:2014-12-30
  • 作者简介:汪成文(1982-),男,辽宁大连人,博士生,cwwang@yeah.net.
  • 基金资助:

    国家自然科学基金资助项目(51235002);国家973计划资助项目(2014CB046400)

Nonlinear robust control of valve controlled electro-hydraulic position servo system

Wang Chengwen1,2, Shang Yaoxing1, Jiao Zongxia1, Han Songshan1   

  1. 1. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Institute of Machinery and Electronics, Taiyuan University of Technology, Taiyuan 030024, China
  • Received:2014-01-09 Online:2014-12-20 Published:2014-12-30

摘要:

为了解决电液伺服跟踪控制中存在流量非线性以及参数不确定问题,以阀控液压马达为对象设计了一种非线性鲁棒控制器.该算法基于Back-Stepping的设计思想,将阀控电液系统的位置跟踪问题转化为系统负载流量规划问题,仅需一步反步递推,即可完成控制器设计,具有较强的工程实用性.该算法综合考虑了制约电液位置系统跟踪精度的流量非线性以及系统参数不确定性问题.理论证明了该算法的稳定性.通过和传统PID(Proportional-Integral-Derivative)控制器的对比试验表明,基于该控制器,系统跟踪性能得到了显著提升.

关键词: 非线性控制, 电液位置伺服系统, 参数不确定性, 流量非线性, 鲁棒控制

Abstract:

To deal with the problem of flow nonlinearity and parametric uncertainties of valve controlled hydraulic position servo system, a nonlinear robust controller was developed based on the Back-Stepping design method. The mathematic model of the valve controlled system was developed, and the nonlinear robust algorithm was derived based on the developed model. The position tracking problem was converted into the load flow planning problem, and the controller was achieved just through one step. The developed controller took the flow nonlinearity and system parametric uncertainties into consideration. The stability of the developed algorithm was proved theoretically. Experimental results show the tracking performance based on the developed controller could be improved compared with that of traditional proportional-integral-derivative (PID) controller.

Key words: nonlinear control, electro-hydraulic servo system, parametric uncertainties, flow nonlinearity, robust control

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