考虑约束的电液伺服系统非线性鲁棒控制策略研究

发布时间：2018-03-19 08:41

本文选题：电液伺服系统　切入点：饱和约束　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：本文以国家自然科学基金项目为背景,针对实际电液伺服系统中所包含的物理约束,以实现电液伺服系统的高精度位置跟踪为目的,开展了电液伺服系统先进非线性鲁棒控制策略研究,研究内容主要集中在以下几方面展开:1、建立考虑约束的电液伺服系统非线性数学模型。电液伺服系统本身是高度非线性的,同时还存在大量模型不确定性。本文在建立数学模型时考虑了影响系统性能的饱和、时滞约束等因素,针对这些因素进行控制器设计,从而实现电液伺服系统的高性能控制。2、考虑饱和约束的电液伺服系统控制策略。大多数控制器在设计过程中往往会忽略实际系统中的物理限制,这样的控制器在实际应用过程中一旦系统发生饱和现象,将使系统性能恶化。本文在鲁棒控制思想的基础上考虑了饱和约束,利用双曲函数的特性,设计出一种新型的饱和鲁棒控制策略,用尽可能低的保守性实现电液伺服系统的高性能控制,使得控制器更具有实际应用价值。3、考虑时滞约束的电液伺服系统控制策略。实际电液伺服系统由于各元件的影响必然会存在一定的时滞。为了获得更好的控制性能,本文设计了一种新型的控制器,通过设计一个延迟补偿信号以获得一个无延迟的开环误差系统,结合李雅普诺夫-克拉索夫斯基(Lyapunov-Krasovskii)泛函方法来消去时滞带来的影响。此外,本文还提出一种考虑时滞及饱和约束的控制方法以实现更为普遍的电液伺服系统高性能控制。4、电液伺服系统的全历程高精度位置跟踪控制策略。以往的控制器往往并不能够兼顾到系统的稳态性能和瞬态性能。本文设计了一种新型的控制策略,通过借鉴瞬态性能优秀的自适应鲁棒控制策略和稳态性能优秀的误差符号鲁棒积分控制策略,将两种控制策略进行融合,使得电液伺服系统在有外干扰的情况下能实现全历程高精度位置跟踪控制。5、通过MATLAB/Simulink仿真及性能对比从多方面验证控制器的有效性及优越性。
[Abstract]:Based on the project of National Natural Science Foundation, aiming at the physical constraints contained in the actual electro-hydraulic servo system, the purpose of this paper is to realize the high-precision position tracking of the electro-hydraulic servo system. The advanced nonlinear robust control strategy of electro-hydraulic servo system is studied. The research focuses on the following aspects: 1. The nonlinear mathematical model of electro-hydraulic servo system considering constraints is established. The electro-hydraulic servo system itself is highly nonlinear. At the same time, there are a lot of uncertainties in the model. In this paper, the factors affecting the system performance, such as saturation and time-delay constraints, are considered in the mathematical model, and the controller is designed according to these factors. Therefore, the high performance control of electro-hydraulic servo system is realized, and the control strategy of electro-hydraulic servo system with saturation constraint is considered. Most of the controllers often ignore the physical limitation of the actual system in the design process. This kind of controller will make the system performance deteriorate once the saturation phenomenon occurs in the practical application. In this paper, the saturation constraint is considered on the basis of the robust control theory, and the hyperbolic function is used to make use of the property of the hyperbolic function. A novel saturated robust control strategy is designed to achieve the high performance control of electro-hydraulic servo system with the lowest possible conservatism. The controller has more practical application value. 3. The control strategy of electro-hydraulic servo system with time-delay constraints is considered. The actual electro-hydraulic servo system will inevitably have a certain delay due to the influence of each component. In order to obtain better control performance, In this paper, a new controller is designed to eliminate the effects of delay by designing a delay compensation signal to obtain an open loop error system without delay and a Lyapunov Krasovsky Lyapunov-Krasovskii functional method. In this paper, a control method considering time delay and saturation constraints is also proposed to realize the more general high performance control of electro-hydraulic servo system .4. the full history and high precision position tracking control strategy of electro-hydraulic servo system. In this paper, a new control strategy is designed, which can not take into account the steady-state and transient performance of the system. The adaptive robust control strategy with excellent transient performance and the error symbol robust integral control strategy with excellent steady-state performance are used to integrate the two control strategies. The electro-hydraulic servo system can realize the full-course high-precision position tracking control .5. the effectiveness and superiority of the controller are verified by MATLAB/Simulink simulation and performance comparison.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137;TP273

【相似文献】