摘要
针对阀控电液位置伺服系统未建模摩擦力、参数不确定性和外部随机干扰造成的复合扰动问题,提出一种基于扩张状态观测器(ESO)的反步滑模控制方法。ESO的设计可以对作动器速度、加速度和复合扰动进行在线估计,解决工程应用中对以上信号难以测定的问题;基于ESO估计值和位移反馈信号进行反步滑模控制器设计,通过构造包含反步设计误差、滑模函数和观测器误差的Lyapunov函数,对所提控制方法进行稳定性证明;为验证所提方法的有效性,进行了AMESim和MATLAB/Simulink联合仿真,与PID控制器、传统的反步滑模控制器和基于ESO的滑模控制器的控制效果进行对比,并对仿真数据进行了分析。研究结果表明:所提方法可以有效抑制系统复合扰动,位移跟踪精度高,鲁棒性强。
The backstepping sliding mode control method based on extended state observer(ESO)is proposed,which can solve the compound disturbance problem caused by unmodeled friction force,parameter uncertainty and external random disturbance.The ESO is designed to estimate the velocity and acceleration of actuator.The backstepping sliding mode controller is designed based on the displacement feedback signal and the estimated values of ESO.By constructing Lyapunov function including backstepping design error,sliding mode function and observer error,the stability of the proposed control method is proved.In order to verify the effectiveness of the proposed method,AMESim and MATLAB/Simulink co-simulation is carried out to compare with PID controller,traditional backstepping sliding mode controller and sliding mode controller based on ESO,and the simulation data is analyzed.The results show that the proposed method can effectively suppress the compound disturbance of the system,with higher precision and stronger robustness.
作者
张震阳
汪成文
郭新平
陈帅
ZHANG Zhenyang;WANG Chengwen;GUO Xinping;CHEN Shuai(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Key Laboratory of Advanced Transducers and Intelligent Control System,Ministry of Education and Shanxi Province,Taiyuan University of Technology,Taiyuan 030024,China;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310058,China;College of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China)
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2022年第6期1082-1090,共9页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家重点研发计划(2019YFB2004502)
山西省重点研发计划(201903D121069)
山西省回国留学人员科研资助项目(HGKY2019016)
流体动力与机电系统国家重点实验室开放基金(GZKF-201720)。
关键词
阀控缸
复合扰动
扩张状态观测器(ESO)
反步滑模控制
位移跟踪控制
valve controlled cylinder
compound disturbance
extended state observer(ESO)
backstepping sliding mode control
displacement tracking control
