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电液位置伺服系统的鲁棒自适应控制

杨四阳 韩江 张魁榜 夏链

杨四阳, 韩江, 张魁榜, 夏链. 电液位置伺服系统的鲁棒自适应控制[J]. 应用数学和力学, 2017, 38(6): 676-684. doi: 10.21656/1000-0887.370272
引用本文: 杨四阳, 韩江, 张魁榜, 夏链. 电液位置伺服系统的鲁棒自适应控制[J]. 应用数学和力学, 2017, 38(6): 676-684. doi: 10.21656/1000-0887.370272
YANG Si-yang, HAN Jiang, ZHANG Kui-bang, XIA Lian. A Robust Adaptive Backstepping Control Method for ElectroHydraulic Position Servo Systems[J]. Applied Mathematics and Mechanics, 2017, 38(6): 676-684. doi: 10.21656/1000-0887.370272
Citation: YANG Si-yang, HAN Jiang, ZHANG Kui-bang, XIA Lian. A Robust Adaptive Backstepping Control Method for ElectroHydraulic Position Servo Systems[J]. Applied Mathematics and Mechanics, 2017, 38(6): 676-684. doi: 10.21656/1000-0887.370272

电液位置伺服系统的鲁棒自适应控制

doi: 10.21656/1000-0887.370272
基金项目: 国家科技支撑计划(2015BAF26B01);国家自然科学基金(51575154)
详细信息
    作者简介:

    杨四阳(1988—),男,博士生(E-mail: ysycims2014@163.com);夏链(1964—),女,教授,博士(通讯作者. E-mail: xia_nian@126.com).

  • 中图分类号: TP273

A Robust Adaptive Backstepping Control Method for ElectroHydraulic Position Servo Systems

Funds: The National Key Technology R&D Program of China(2015BAF26B01);The National Natural Science Foundation of China(51575154)
  • 摘要: 针对由于参数不确定性、非线性等因素导致的电液位置伺服系统跟踪控制问题,基于Lyapunov(李雅普诺夫)稳定性理论,提出了一种具有参数自适应能力的鲁棒自适应反步方法.通过设计的自适应律来抑制由于参数不确定性对系统跟踪控制性能的影响,设计的鲁棒控制律使得系统具有全局一致渐近稳定性能.此外,还对伺服阀换向引起的不连续性进行了近似处理.以伺服阀控对称缸系统为控制对象,仿真结果表明,和传统的PD控制方法相比,在参数不确定性的情况下,该控制方法使得电液伺服系统的位置跟踪误差波动较小,且能以较快速度渐近收敛到0,同时所需要的伺服阀输入电压信号值也更小,相关不确定参数在经过较短时间后均可以收敛到其稳定值,从而验证了所提出算法的有效性.
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出版历程
  • 收稿日期:  2016-09-06
  • 修回日期:  2016-10-07
  • 刊出日期:  2017-06-15

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