基于ESO的电液位置伺服系统反步滑模控制

张震阳; 汪成文; 郭新平; 陈帅

doi:10.13700/j.bh.1001-5965.2020.0724

基于ESO的电液位置伺服系统反步滑模控制

doi: 10.13700/j.bh.1001-5965.2020.0724

张震阳¹,
汪成文^{1, 2, 3, ,},
郭新平⁴,
陈帅¹

1.
太原理工大学机械与运载工程学院, 太原 030024
2.
太原理工大学新型传感器与智能控制教育部/山西省重点实验室, 太原 030024
3.
浙江大学流体动力与机电系统国家重点实验室, 杭州 310058
4.
中南大学机电工程学院, 长沙 410083

基金项目:

国家重点研发计划 2019YFB2004502

山西省重点研发计划 201903D121069

山西省回国留学人员科研资助项目 HGKY2019016

流体动力与机电系统国家重点实验室开放基金 GZKF-201720

详细信息

通讯作者:
汪成文, E-mail: cwwang@yeah.net

中图分类号: V221⁺.3;TP271
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- 被引次数: 0
出版历程
- 收稿日期: 2020-12-31
- 录用日期: 2021-04-23
- 网络出版日期: 2022-06-20
- 整期出版日期: 2022-06-20

Backstepping sliding mode control of electro-hydraulic position servo system based on ESO

1.
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China
2.
Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education and Shanxi Province, Taiyuan University of Technology, Taiyuan 030024, China
3.
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
4.
College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China

Funds:

National Key R & D Program of China 2019YFB2004502

Key Research and Development Program of Shanxi Province 201903D121069

Research Project Supported by Shanxi Scholarship Council of China HGKY2019016

Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems GZKF-201720

More Information

Corresponding author: WANG Chengwen, E-mail: cwwang@yeah.net

摘要

摘要:
针对阀控电液位置伺服系统未建模摩擦力、参数不确定性和外部随机干扰造成的复合扰动问题, 提出一种基于扩张状态观测器(ESO)的反步滑模控制方法。ESO的设计可以对作动器速度、加速度和复合扰动进行在线估计, 解决工程应用中对以上信号难以测定的问题；基于ESO估计值和位移反馈信号进行反步滑模控制器设计, 通过构造包含反步设计误差、滑模函数和观测器误差的Lyapunov函数, 对所提控制方法进行稳定性证明；为验证所提方法的有效性, 进行了AMESim和MATLAB/Simulink联合仿真, 与PID控制器、传统的反步滑模控制器和基于ESO的滑模控制器的控制效果进行对比, 并对仿真数据进行了分析。研究结果表明：所提方法可以有效抑制系统复合扰动, 位移跟踪精度高, 鲁棒性强。
- 阀控缸 /
- 复合扰动 /
- 扩张状态观测器(ESO) /
- 反步滑模控制 /
- 位移跟踪控制
Abstract:
The backstepping sliding mode control method based on extended state observer (ESO) is proposed, which can solve the compound disturbance problem caused by unmodeled friction force, parameter uncertainty and external random disturbance. The ESO is designed to estimate the velocity and acceleration of actuator. The backstepping sliding mode controller is designed based on the displacement feedback signal and the estimated values of ESO. By constructing Lyapunov function including backstepping design error, sliding mode function and observer error, the stability of the proposed control method is proved. In order to verify the effectiveness of the proposed method, AMESim and MATLAB/Simulink co-simulation is carried out to compare with PID controller, traditional backstepping sliding mode controller and sliding mode controller based on ESO, and the simulation data is analyzed. The results show that the proposed method can effectively suppress the compound disturbance of the system, with higher precision and stronger robustness.
- valve controlled cylinder /
- compound disturbance /
- extended state observer (ESO) /
- backstepping sliding mode control /
- displacement tracking control

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图 1 电液位置伺服系统结构

Figure 1. Structure of electro-hydraulic position servo system

下载: 全尺寸图片幻灯片

图 2 基于ESO的反步滑模控制策略框图

Figure 2. Block diagram of backstepping sliding mode control strategy based on ESO

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图 3 MATLAB/Simulink和AMESim联合仿真模型

Figure 3. Co-simulation model of MATLAB/Simulink and AMESim

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图 4 位移跟踪结果对比

1—本文控制方法；2—基于ESO的滑模控制；3—位移指令信号；4—PID控制；5—传统反步滑模控制。

Figure 4. Comparison of displacement tracking results

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图 5 位移跟踪误差对比

1—传统反步滑模控制；2—本文控制方法；3—基于ESO的滑模控制；4—PID控制。

Figure 5. Comparison of displacement tracking errors

下载: 全尺寸图片幻灯片

图 6 控制输出对比

1—本文控制方法；2—基于ESO的滑模控制；3—PID控制；4—传统反步滑模控制。

Figure 6. Comparison of control outputs

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图 7 速度估计结果

1—速度估计；2—作动器速度。

Figure 7. Velocity estimation results

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图 8 加速度估计结果

1—加速度估计；2—作动器加速度；3—阶跃干扰力。

Figure 8. Acceleration estimation results

下载: 全尺寸图片幻灯片

图 9 复合扰动估计结果

1—未加外力复合扰动估计；2—施加外力复合扰动估计；3—正弦干扰力；4—阶跃干扰力。

Figure 9. Compound disturbance estimation results

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表 1 AMESim模型中电液位置伺服系统参数

Table 1. Parameters of electro-hydraulic position servo system in AMESim model

参数	数值
液压缸行程/m	±0.1
负载质量/kg	50
库伦摩擦力/N	20
静摩擦力/N	22
黏性摩擦系数/(N·(m·s^-1)^-1)	20
活塞杆直径/mm	25
伺服阀额定压降/Pa	7×10⁶
活塞直径/mm	40
泵排量/(cm³·r^-1)	6.4
内泄漏系数/(m³·s^-1·Pa^-1)	1.17×10^-13
油液体积弹性模量/Pa	7×10⁸
油腔总体积/m³	1.53×10^-4
伺服阀额定电流/mA	40
伺服阀额定流量/(L·min^-1)	38

下载: 导出CSV

表 2 性能评价指标对比

Table 2. Comparison of performance evaluation indexes

控制方法	E_MAE	E_RMSE	E_ITAE
PID控制	1.2×10^-3	7.106 8×10^-4	22.897 8
传统反步滑模控制	1.4×10^-3	1.5×10^-3	28.429 4
基于ESO的滑模控制	3.299 2×10^-4	2.547 6×10^-4	6.233 7
基于ESO的反步滑模控制	6.598 9×10^-5	1.349 3×10^-4	1.020 2

下载: 导出CSV

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