输入有界的电液位置伺服系统的自适应控制

发布时间：2018-07-26 12:10

【摘要】：综合考虑参数不确定性、外部干扰和输入饱和非线性对电液位置伺服系统控制性能的影响,提出一种基于人工神经网络的自适应状态反馈轨迹跟踪控制算法。该控制算法引入人工神经网络对系统输入饱和非线性进行在线拟合,设计基于有界双曲正切函数的状态反馈控制器,实现电液位置伺服系统的高精度轨迹跟踪。该方法不需要对系统非线性部分进行线性化,而且对线性部分的控制和参数的在线估计不相关,因此控制器具有较强的鲁棒性和工程实用性。通过构造合适的Lyapunov函数,证明了闭环系统具有全局渐近稳定性,仿真结果验证了所设计控制器的可行性和有效性。
[Abstract]:Considering the influence of parameter uncertainty, external disturbance and input saturation nonlinearity on the control performance of electro-hydraulic position servo system, an adaptive state feedback trajectory tracking control algorithm based on artificial neural network is proposed. The control algorithm is introduced into artificial neural network to fit the input saturation nonlinearity online, and a state feedback controller based on bounded hyperbolic tangent function is designed to achieve high precision trajectory tracking of electro-hydraulic position servo system. This method does not need to linearize the nonlinear part of the system, and the control of the linear part is not related to the on-line estimation of the parameters, so the controller has strong robustness and engineering practicability. The global asymptotic stability of the closed-loop system is proved by constructing an appropriate Lyapunov function. The simulation results verify the feasibility and effectiveness of the proposed controller.
【作者单位】：黑龙江八一农垦大学信息技术学院;
【基金】：国家科技支撑计划(2014BAD06B01) 黑龙江八一农垦大学校内培育课题资助计划(XZR2014-13)
【分类号】：TP273

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