摘要
针对具有输入饱和的电液伺服系统,设计一种基于干扰观测器的反步位置跟踪控制器。利用干扰观测器对系统中由外部扰动、参数不确定等引起的未知复合干扰进行估计,同时利用跟踪微分器估计虚拟控制量的微分信号,有效降低控制器复杂性。基于Lyapunov稳定性理论证明在所设计控制器的作用下,闭环系统所有信号一致最终有界。最后对某650 mm轧机电液伺服系统进行仿真,验证所提方法具有较好的跟踪性能。
A backstepping position tracking controller based on disturbance observer was proposed for electro-hydraulic servo system in the presence of parameter uncertainties, external disturbances and input saturation. Disturbance observer and tracking differentiators were used to estimate the compound disturbances and the derivative signal of the virtual control. All the signals in the closed-loop system were uniformly ultimately bounded under the proposed backstepping control scheme. Finally, simulations were presented on the electro-hydraulic servo system of 650 mm rolling mill, and the simulation results show good tracking performance of the proposed control scheme.
作者
石胜利
李建雄
方一鸣
SHI Shengli LI JianxiongI FANG Yiming(Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, China College of Science, Yanshan University Qinhuangdao 066004, China)
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2016年第10期3369-3374,共6页
Journal of Central South University:Science and Technology
基金
国家自然科学基金资助项目(61074099
61273004)
河北省教育厅科学研究计划项目(Z2009145)
燕山大学博士基金资助项目(B925)~~
关键词
电液伺服系统
反步控制
输入饱和
干扰观测器
electro-hydraulic servo system
backstepping control
input saturation
disturbance observer
