新能源汽车电静液制动系统抗饱和反演控制
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摘要
对电静液制动系统存在的未知非线性及参数时变特点,提出一种控制输入受限条件下的反演控制策略;建立电静液作动器的状态空间模型并表达为严格反馈形式,将建模误差及未建模动态视为未知干扰,结合反演步骤设计参数自适应律,实时估计未知扰动;设计抗饱和补偿器,将控制器输出与被控对象输入信号之差作为抗饱和补偿器的输入,构成反馈回路消除饱和现象;应用Lyapunov方法证明闭环系统的渐近稳定性,闭环系统信号一致有界,压力跟踪误差可通过改变补偿器的参数进行调节;仿真及试验结果表明,所提控制方法具有较强的自适应能力,与传统反演方法相比,鲁棒性和控制性能得到显著提高。
For overcoming the unknown nonlinearity and parameters variability in the model of electro-hydrostatic braking system,a Lyapunov function-based control algorithm is addressed for force tracking control in the case of input saturation presence.Treating modeling errors,unmodeled nonlinearities as unknown external disturbances,the state space model of electro-hydrostatic actuator is formulated as a strict feedback system.By using backstepping approaches,an online estimation scheme is adopted to approximate the external disturbance of the system.To deal with saturation,the anti-windup compensator is constructed.Regarded the error between the control input and saturated input as the input of the compensator,a number of signals are generated to compensate the effect of saturation.Based on the Lyapunov stability analysis,it is shown that the proposed control strategy guarantees that asymptotic force tracking is achieved,all closed loop signals are ensured to be bounded.The tracking error is adjustable by an explicit choice of design parameters.The simulation results and experiment results are provided to show that the control scheme proposed has agood capacity to deal with the model parameter uncertainty,and compared with the classical beckstepping control,the robustness and steady state accuracy have improved obviously.
For overcoming the unknown nonlinearity and parameters variability in the model of electro-hydrostatic braking system,a Lyapunov function-based control algorithm is addressed for force tracking control in the case of input saturation presence.Treating modeling errors,unmodeled nonlinearities as unknown external disturbances,the state space model of electro-hydrostatic actuator is formulated as a strict feedback system.By using backstepping approaches,an online estimation scheme is adopted to approximate the external disturbance of the system.To deal with saturation,the anti-windup compensator is constructed.Regarded the error between the control input and saturated input as the input of the compensator,a number of signals are generated to compensate the effect of saturation.Based on the Lyapunov stability analysis,it is shown that the proposed control strategy guarantees that asymptotic force tracking is achieved,all closed loop signals are ensured to be bounded.The tracking error is adjustable by an explicit choice of design parameters.The simulation results and experiment results are provided to show that the control scheme proposed has agood capacity to deal with the model parameter uncertainty,and compared with the classical beckstepping control,the robustness and steady state accuracy have improved obviously.
引文
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[8]郎燕,李运华.电液复合调节作动器的精确线性化建模与控制[J].北京航空航天大学学报,2009,V35(9):1062-1066.
[9]康荣杰,焦宗夏,Jean Charles Mare,等.电动静液作动器非线性框图建模与鲁棒控制方法[J].航空学报,2009,30(3):518-525.
[10]Hoang Thinh Do,Hyung Gyu Park,Kyoung Kwan Ahn,Application of an adaptive fuzzy sliding mode controller in velocity control of a secondary controlled hydrostatic transmission system[J].Mechatronics,2014(8):1157-1165.
[11]Hwi-Beom Shin,Jong-Gyu Park.Anti-Windup PID Controller With Integral State Predictor for Variable-Speed Motor Drives[J].IEEE Transactions on Industrial Electronics,2012,59(3):1509-1516.
[12]Krstic M,Kanellakopoulos I,Kokotovic P V.Nonlinear and adaptive control design[M].New York:Wiley Interscience,1995:61-64.
[13]Wen Changyun,Zhou Jing,Liu Zhitao,et al.Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation and External Disturbance[J].IEEE Transactions on Automatic Control,2011,56(7):1672-1678.
[14]Kang R J,Jiao Z X,Wang S P,et al.Design and simulation of electro-hydrostatic actuator with a built-in power regulator[J].Chinese Journal of Aeronautics,2009,22(6):700-706.
[15]Andrew Alleyne,Rui Liu,A simplified approach to force control for electro-hydraulic systems[J].Control Engineering Practice,2000,8(12):1347-1356.
[16]Zhou Jing,Wen Changyun.Adaptive Backstepping Control of Uncertain Systems-Nonsmooth Nonlinearities,Interactions or Time-Variations[M].Berlin:Springer,2008:189-198.
[17]Zhang Zhengqiang,Xu Shengyuan,Zhang Baoyong.Asymptotic Tracking Control of Uncertain Nonlinear Systems With Unknown Actuator Nonlinearity[J].IEEE Transactions on Automatic Control,59(5):1336-1341.
[2]Nian X H,Peng F,Zhang H.Regenerative braking system of electric vehicle driven by brushless de motor[J].IEEE Transactions on Industrial Electronics,2014,61(10):5798-5808.
[3]余卓平,王婧佳,熊璐,等.电液制动系统液压力控制[J].控制理论与应用,2016,33(7):897-902.
[4]Zheng Jianming,Zhao Shengdun,Wei Shuguo.Application of self-tuning fuzzy PID controller for a SRM direct drive volume control hydraulic press[J].Control Engineering Practice,2009,17(12):1398-1404.
[5]Gao Bo,Fu Yongling,Pei Zhongcai,et al.Research on DualVariable Integrated Electro-Hydrostatic Actuator[J].Chinese Journal of Aeronautics,2006,19(1):77-82.
[6]马纪明,付永领,高波.基于定量反馈理论的EHA控制器设计[J].北京航空航天大学学报,2006,V32(5):553-557.
[7]Cho S H,Burton R.Position control of high performance hydrostatic actuation system using a simple adaptive control(SAC)method[J].Mechatronics,2011,21(1):109-115.
[8]郎燕,李运华.电液复合调节作动器的精确线性化建模与控制[J].北京航空航天大学学报,2009,V35(9):1062-1066.
[9]康荣杰,焦宗夏,Jean Charles Mare,等.电动静液作动器非线性框图建模与鲁棒控制方法[J].航空学报,2009,30(3):518-525.
[10]Hoang Thinh Do,Hyung Gyu Park,Kyoung Kwan Ahn,Application of an adaptive fuzzy sliding mode controller in velocity control of a secondary controlled hydrostatic transmission system[J].Mechatronics,2014(8):1157-1165.
[11]Hwi-Beom Shin,Jong-Gyu Park.Anti-Windup PID Controller With Integral State Predictor for Variable-Speed Motor Drives[J].IEEE Transactions on Industrial Electronics,2012,59(3):1509-1516.
[12]Krstic M,Kanellakopoulos I,Kokotovic P V.Nonlinear and adaptive control design[M].New York:Wiley Interscience,1995:61-64.
[13]Wen Changyun,Zhou Jing,Liu Zhitao,et al.Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation and External Disturbance[J].IEEE Transactions on Automatic Control,2011,56(7):1672-1678.
[14]Kang R J,Jiao Z X,Wang S P,et al.Design and simulation of electro-hydrostatic actuator with a built-in power regulator[J].Chinese Journal of Aeronautics,2009,22(6):700-706.
[15]Andrew Alleyne,Rui Liu,A simplified approach to force control for electro-hydraulic systems[J].Control Engineering Practice,2000,8(12):1347-1356.
[16]Zhou Jing,Wen Changyun.Adaptive Backstepping Control of Uncertain Systems-Nonsmooth Nonlinearities,Interactions or Time-Variations[M].Berlin:Springer,2008:189-198.
[17]Zhang Zhengqiang,Xu Shengyuan,Zhang Baoyong.Asymptotic Tracking Control of Uncertain Nonlinear Systems With Unknown Actuator Nonlinearity[J].IEEE Transactions on Automatic Control,59(5):1336-1341.