含磁滞补偿的电液伺服系统预设性能跟踪控制

发布时间：2018-03-08 10:51

本文选题：电液伺服系统　切入点：磁滞　出处：《中国机械工程》2016年08期 　论文类型：期刊论文

【摘要】：针对电液伺服系统普遍存在的参数不确定性、不确定非线性(磁滞、摩擦、外干扰等),提出一种基于自适应鲁棒控制的含磁滞补偿的预设性能跟踪控制策略。以阀控单出杆液压缸位置伺服系统为例,首先建立了含磁滞非线性的系统数学模型,然后通过定义预设性能函数,实现了对跟踪误差收敛速率、最大超调量和稳态精度的预先规划,基于规划后的转换误差设计了自适应鲁棒控制器,并提高了稳态和瞬态跟踪性能。仿真对比结果表明:该控制策略可以减小磁滞对系统跟踪精度的影响,提高跟踪误差的收敛速度,减小最大超调量,最终实现优良的跟踪性能。
[Abstract]:In view of the general parameter uncertainty of electro-hydraulic servo system, the nonlinearity (hysteresis, friction, Based on adaptive robust control, a preset performance tracking control strategy with hysteresis compensation is proposed. Taking valve-controlled single-rod hydraulic cylinder position servo system as an example, a nonlinear system mathematical model with hysteresis is established. Then the preprogramming of tracking error convergence rate, maximum overshoot and steady-state precision is realized by defining the preset performance function. An adaptive robust controller is designed based on the planned conversion error. The simulation results show that the control strategy can reduce the influence of hysteresis on tracking accuracy, improve the convergence speed of tracking error, reduce the maximum overshoot, and finally achieve good tracking performance.
【作者单位】：南京理工大学;
【基金】：国家自然科学基金资助项目(51305203) 江苏省自然科学基金资助项目(BK20141402)
【分类号】：TH137

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