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电液伺服泵的分数阶无抖振滑模控制

杨荣荣 付永领 王岩 王德义 郭建文 张玲

杨荣荣, 付永领, 王岩, 等 . 电液伺服泵的分数阶无抖振滑模控制[J]. 北京航空航天大学学报, 2016, 42(8): 1649-1658. doi: 10.13700/j.bh.1001-5965.2015.0495
引用本文: 杨荣荣, 付永领, 王岩, 等 . 电液伺服泵的分数阶无抖振滑模控制[J]. 北京航空航天大学学报, 2016, 42(8): 1649-1658. doi: 10.13700/j.bh.1001-5965.2015.0495
YANG Rongrong, FU Yongling, WANG Yan, et al. Free-chattering fractional order sliding mode control of integrated electro-hydraulic servo pump[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1649-1658. doi: 10.13700/j.bh.1001-5965.2015.0495(in Chinese)
Citation: YANG Rongrong, FU Yongling, WANG Yan, et al. Free-chattering fractional order sliding mode control of integrated electro-hydraulic servo pump[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1649-1658. doi: 10.13700/j.bh.1001-5965.2015.0495(in Chinese)

电液伺服泵的分数阶无抖振滑模控制

doi: 10.13700/j.bh.1001-5965.2015.0495
基金项目: 国家自然科学基金(51375029)
详细信息
    作者简介:

    杨荣荣,男,博士研究生。主要研究方向:伺服电机驱动控制、电液伺服控制。Tel.:18610460288。E-mail:yr13236@163.com;付永领,男,博士,教授,博士生导师。主要研究方向:新型液压伺服系统理论与试验、集成机电液控伺服系统、特种机器人等。Tel.:010-82317307。E-mail:fuyongling@126.com

    通讯作者:

    付永领,Tel.:010-82317307,E-mail:fuyongling@126.com

  • 中图分类号: TP273;TH137

Free-chattering fractional order sliding mode control of integrated electro-hydraulic servo pump

  • 摘要: 电液伺服泵(IEHSP)由于在结构上实现了伺服电机和液压泵共转子、共壳体高度融合,在体积、噪声和效率等方面具有明显优势,具有很好的应用前景。为了提高电液伺服泵的调速性能与抗扰能力,设计了一种新型分数阶滑模控制器(NFOSMC)。首先,由于分数阶微积分理论的引入,控制器为系统提供了更多的控制余度。然后,针对传统滑模控制中存在的抖振问题,通过设计使控制器中直接包含有切换项的分数阶积分项,利用其滤波特性可以有效滤除抖振,实现无抖振滑模控制。同时利用Lyapunov稳定性定理证明了控制器可以保证系统在存在内扰与外扰时能够在有限时间内收敛于平衡点,另外控制器中避免了含有高阶分数阶微分项,扩大了分数阶阶数的取值范围。为了进一步提高抗扰能力,设计了分数阶扰动观测器(FODOB),对系统内扰和外扰实时观测并补偿,有效提高了控制器的响应速度和刚度。最后,分别与PI控制、整数阶滑模控制器(IOSMC)和传统分数阶滑模控制器(CFOSMC)进行了仿真分析比较,结果表明该控制器能够有效改善速度跟踪性能和增强抗扰能力,消抖效果显著。

     

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出版历程
  • 收稿日期:  2015-07-23
  • 刊出日期:  2016-08-20

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