不确定电液位置伺服系统的自适应终端滑模控制

刘启龙; 韩江; 杨四阳; 董方方; 夏链

doi:10.21656/1000-0887.410186

不确定电液位置伺服系统的自适应终端滑模控制

doi: 10.21656/1000-0887.410186

合肥工业大学机械工程学院，合肥 230009

基金项目:

安徽省科技重大专项（18030901039）

国家重点研发计划（2018YFB1308405）

安徽省自然科学基金(青年项目)（1908085QE231）

详细信息

作者简介:
刘启龙（1996—），男，硕士生(E-mail: 976479407@qq.com);韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).

通讯作者:
韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).

中图分类号: TP271
计量
- 文章访问数: 553
- HTML全文浏览量: 125
- PDF下载量: 58
- 被引次数: 0
出版历程
- 收稿日期: 2020-06-19
- 修回日期: 2021-05-08

Adaptive Terminal Sliding Mode Control of Uncertain Electro-Hydraulic Position Servo Systems

School of Mechanical Engineering， Hefei University of Technology, Hefei 230009, P.R.China

摘要

摘要: 为了解决非线性、不确定电液伺服系统的位置跟踪控制问题，提出了一种基于反步法的自适应终端滑模控制方法.该方法将自适应控制和终端滑模方法结合在一起，一方面，提出的自适应控制律可以对电液伺服系统中的不确定性参数进行有效在线估计和补偿；另一方面，通过引入误差吸引子到滑模趋近律中得到变系数趋近律，设计的终端滑模控制律不仅能够消除普通终端滑模控制律中的非奇异项，还大大降低了滑模面的抖震.最终，根据Lyapunov稳定性理论，位置跟踪误差的有限时间稳定性得以严格证明.将该方法与积分反步滑模控制和线性滑模控制方法进行了对比研究，仿真结果验证了该方法在电液伺服系统位置跟踪控制方面良好的鲁棒性和跟踪精度.
- 电液伺服系统 /
- 终端滑模控制 /
- 自适应控制 /
- 有限时间稳定性
Abstract: To solve the position tracking control problem of nonlinear and uncertain electrohydraulic servo systems, an adaptive terminal sliding mode control method based on the backstepping method was proposed. This method combines the adaptive control with the terminal sliding mode method. On the one hand, the proposed adaptive control law can effectively estimate and compensate the uncertain parameters of the electro-hydraulic servo system on line, on the other hand, with the variable coefficient reaching law obtained through introduction of the error attractor into the sliding mode reaching law, the designed terminal sliding mode control law can not only eliminate the non-singular term in the ordinary terminal sliding mode control law, but also greatly reduce the chattering of the sliding mode surface. Finally, according to the Lyapunov stability theory, the finite time stability of the position tracking error was proved strictly. The proposed method was compared with the integral backstepping sliding mode control and the linear sliding mode control. The simulation results show that, the proposed method has good robustness and tracking accuracy in position tracking control of electro-hydraulic servo systems.
- electro-hydraulic servo system /
- terminal sliding mode control /
- adaptive control /
- finite time stability

HTML全文

参考文献(23)

吴振顺. 液压控制系统[M]. 北京：高等教育出版社，2008：67-76.（WU Zhenshun. Hydraulic Control System[M]. Beijing: Higher Education Press, 2008： 67-76. (in Chinese)）

[2]YAO B, BU F, REEDY J, et al. Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments[J]. IEEE/ASME Transactions on Mechatronics,2000,5(1):79-91.

[3]吕云嵩. 阀控非对称缸频域建模[J]. 机械工程学报, 2007,43(9): 122-126.（L Yunsong. Modeling in frequency domain for valve controlled asymmetric hydraulic cylinders[J]. Chinese Journal of Mechanical Engineering,2007,43 (9): 122-126.（in Chinese））

[4]陈佳, 邢继峰, 彭利坤. 基于传递函数的数字液压缸建模与分析[J]. 中国机械工程, 2014,25(1): 65-70.（CHEN Jia, XING Jifeng, PENG Likun. Modeling and analysis of digital hydraulic cylinder based on transfer function[J]. China Mechanical Engineering,2014,25(1): 65-70.（in Chinese））

[5]SEO J, VENUGOPAL R, KENNE J P. Feedback linearization based control of a rotational hydraulic drive[J]. Control Engineering Practice,2007,15(12): 1495-1507.

[6]张志伟, 毛福荣. 滑模变结构控制方法在电液伺服系统中的应用[J]. 液压与气动, 2005(8): 50-52.（ZHANG Zhiwei, MAO Furong. Application of sliding mode variable structure control method in electro-hydraulic servo system[J]. Hydraulic and Pneumatic,2005(8): 50-52.（in Chinese））

[7]胡永生, 杨洁明. 电液伺服系统的滑模变结构控制仿真研究[J]. 流体传动与控制, 2008(4): 18-19.（HU Yongsheng, YANG Jieming. Simulation research on sliding mode variable structure control in the electro-hydraulic servo system[J]. Fluid Power Transmission & Control,2008(4): 18-19.（in Chinese））

[8]汤青波, 张国新, 何学文. 电液伺服系统的积分滑模控制[J]. 机床与液压, 2011,39(9): 48-49.（TANG Qingbo, ZHANG Guoxin, HE Xuewen. Integral sliding mode control for electro hydraulic servo system[J]. Machine Tool & Hydraulics,2011,39(9): 48-49.（in Chinese））

[9]刘乔, 吴新跃, 石阳, 等. 电液伺服系统的积分滑模自适应控制方法的研究[J]. 机床与液压, 2008,36(5): 126-129.（LIU Qiao, WU Xinyue, SHI Yang, et al. The research of integra1 sliding mode adaptive control in electro-hydraulic position control system [J]. Machine Tool & Hydraulics,2008,36(5): 126-129.（in Chinese））

[10]YAO B, BU F, CHIU G T C. Adaptive robust motion control of electro-hydraulic servo systems driven by single-rod actuators[J]. IFAC Proceedings Volumes,1998,31(27): 49-54.

[11]GUAN C, PAN S. Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters[J]. Control Engineering Practice,2008,16(11): 1275-1284.

[12]GUAN C P S. Nonlinear adaptive robust control of single-rod electro-hydraulic actuator with unknown nonlinear parameters[J]. IEEE Transactions on Control Systems Technology,2008,16(3): 434-445.

[13]YAO J Y, YANG G C, MA D W, et al. Adaptive robust control for unknown nonlinear parameters of single-rod hydraulic actuators[C]//Proceedings of the 〖STBX〗33rd Chinese Control Conference. Nanjing, 2014: 7915-7920. DOI: 10.1109/ChiCC.2014.6896322.

[14]杨四阳, 韩江, 张魁榜, 等. 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.（YANG Siyang, HAN Jiang, ZHANG Kuibang, et al . A robust adaptive backstepping control method for electro-hydraulic position servo systems[J]. Applied Mathematics and Mechanics,2017,38(6): 676-684.（in Chinese））

[15]MAN Z H, PAPLINSKI A P, WU H R. A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators[J]. IEEE Transactions on Automatic Control,1994,39(12): 2464-2469.

[16]FENG Y, YU X, MAN Z. Non-singular terminal sliding mode control of rigid manipulators[J]. Automatica,2002,38(12): 2159-2167.

[17]AHMED S, WANG H, TIAN Y. Fault tolerant control using fractional-order terminal sliding mode control for robotic manipulators[J]. Studies in Informatics & Control,2018,27(1): 55-64.

[18]AHMED S, WANG H, TIAN Y. Model-free control using time delay estimation and fractional-order nonsingular fast terminal sliding mode for uncertain lower-limb exoskeleton[J]. Journal of Vibration and Control,2018,24(22): 5273-5290.

[19]XIONG J J, ZHANG G B. Global fast dynamic terminal sliding mode control for a quadrotor UAV[J]. Isa Transactions,2017,66: 233-240.

[20]FESSI R, SOUFIENE B, JOSEPH H, et al. Terminal sliding mode controller design for a quadrotor unmanned aerial vehicle[M]//Applications of Sliding Mode Control in Science and Engineering. Springer International Publishing, 2017: 81-98.

[21]叶小华, 岑豫皖, 赵韩, 等. 基于液压弹簧刚度的阀控非对称缸建模仿真[J]. 中国机械工程, 2011,22(1): 23-27.（YE Xiaohua, CEN Yuwan, ZHAO Han, et al. Modeling and simulation of hydraulic spring stiffness-based asymmetrical cylinder controlled by valve[J]. China Mechanical Engineering,2011,22(1): 23-27.（in Chinese））

[22]YANG L, YANG J. Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems[J]. International Journal of Robust & Nonlinear Control,2011,21(16):1865-1879.

[23]ZHU S Q, JIN X L, YAO B, et al. Non-linear sliding mode control of the lower extremity exoskeleton based on human-robot cooperation[J]. International Journal of Advanced Robotic Systems,2016,13(5). DOI: 10.1177/1729881416662788.

施引文献

资源附件(0)

访问统计

点击查看大图

计量

文章访问数: 553
HTML全文浏览量: 125
PDF下载量: 58
被引次数: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

留言板

不确定电液位置伺服系统的自适应终端滑模控制

doi: 10.21656/1000-0887.410186

作者简介:
刘启龙（1996—），男，硕士生(E-mail: 976479407@qq.com);韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).

通讯作者:
韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).

计量

Adaptive Terminal Sliding Mode Control of Uncertain Electro-Hydraulic Position Servo Systems

计量

目录

留言板

不确定电液位置伺服系统的自适应终端滑模控制

doi: 10.21656/1000-0887.410186

作者简介: 刘启龙（1996—），男，硕士生(E-mail: 976479407@qq.com);韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).

通讯作者: 韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).

计量

出版历程

Adaptive Terminal Sliding Mode Control of Uncertain Electro-Hydraulic Position Servo Systems

计量

出版历程

目录

作者简介:
刘启龙（1996—），男，硕士生(E-mail: 976479407@qq.com);韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).

通讯作者:
韩江（1963—），男，教授，博士生导师(通讯作者. E-mail: hanjiang626@126.com).