阀控电液位置伺服系统非线性鲁棒控制方法

为了解决电液伺服跟踪控制中存在流量非线性以及参数不确定问题,以阀控液压马达为对象设计了一种非线性鲁棒控制器.该算法基于Back-Stepping的设计思想,将阀控电液系统的位置跟踪问题转化为系统负载流量规划问题,仅需一步反步递推,即可完成控制器设计,具有较强的工程实用性.该算法综合考虑了制约电液位置系统跟踪精度的流量非线性以及系统参数不确定性问题.理论证明了该算法的稳定性.通过和传统PID(Proportional-Integral-Derivative)控制器的对比试验表明,基于该控制器,系统跟踪性能得到了显著提升.

Nonlinear robust control of valve controlled electro-hydraulic position servo system

To deal with the problem of flow nonlinearity and parametric uncertainties of valve controlled hydraulic position servo system, a nonlinear robust controller was developed based on the Back-Stepping design method. The mathematic model of the valve controlled system was developed, and the nonlinear robust algorithm was derived based on the developed model. The position tracking problem was converted into the load flow planning problem, and the controller was achieved just through one step. The developed controller took the flow nonlinearity and system parametric uncertainties into consideration. The stability of the developed algorithm was proved theoretically. Experimental results show the tracking performance based on the developed controller could be improved compared with that of traditional proportional-integral-derivative (PID) controller.