基于反步控制的非线性干扰观测器的外部不确定干扰的电液位置伺服系统（英文）
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摘要
由于电液系统中存在各种非线性因素以及不确定干扰,为提高电液位置伺服系统在干扰下的控制精度,以电液振动台为控制对象,建立非线性模型,利用干扰观测器对干扰力进行观测,并通过反步控制器进行削弱和补偿,利用李雅普诺夫理论保证闭环系统的全局稳定。对设计的控制器进行仿真和实验,模拟在有外界未知干扰力下的位置控制,实现对干扰的抑制。实验表明:该控制策略能够很好的提高电液位置伺服系统的跟踪性能。
With consideration of nonlinear factors and external uncertain disturbances existed in an electro-hydraulic position servo system,a nonlinear model based on an electro-hydraulic shaking table is built in order to improve tracking accuracy of a position reference signal. A nonlinear disturbance observer is employed to measure external unknown disturbances and a backstepping controller is designed for the electro-hydraulic position servo system with nonlinear mathematical model. The proposed controller can guarantee the stabilization of the position closed-loop system using Lyapunov theory. Simulation and experiment of the designed controller are made with the external unknown disturbances. Experimental results show that the proposed control strategy is effective to improve the tracking accuracy of the position reference signal of the electro-hydraulic position servo system.
With consideration of nonlinear factors and external uncertain disturbances existed in an electro-hydraulic position servo system,a nonlinear model based on an electro-hydraulic shaking table is built in order to improve tracking accuracy of a position reference signal. A nonlinear disturbance observer is employed to measure external unknown disturbances and a backstepping controller is designed for the electro-hydraulic position servo system with nonlinear mathematical model. The proposed controller can guarantee the stabilization of the position closed-loop system using Lyapunov theory. Simulation and experiment of the designed controller are made with the external unknown disturbances. Experimental results show that the proposed control strategy is effective to improve the tracking accuracy of the position reference signal of the electro-hydraulic position servo system.
引文
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[13]L.TIAN,L.QIAN,L.CHEN,et al.Sliding mode control based on backstepping method for electro-hydraulic singlerod actuator[C]//2015 IEEE International Conference on Information and Automation,Lijiang,2015:2326-2329.
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[16]D.Won,W.Kim,D.Shin,et al.High-Gain Disturbance Observer-Based Backstepping Control With Output Tracking Error Constraint for Electro-Hydraulic Systems[J].IEEETransactions on Control Systems Technology,2015,23(2):787-795.
[2]SHEN Gang,ZHU Zhencai,LI Xiang,et al.Real-time electrohydraulic hybrid system for structural testing subjected to vibration and force loading[J].Mechatronics,2016,33:49-70.
[3]WANG Yan,ZHANG Ze,QIN Xuqing.Modeling and control for hydraulic transmission of unmanned ground vehicle[J].Journal of Central South University,2014,21(1):124-129.
[4]LIU Yi,GONG Guofang,YANG Huayong,et al.Mechanism of electro-hydraulic exciter for new tamping device[J].Journal of Central South University,2014,21(2):511-520.
[5]GUAN Cheng,ZHU Shanan.Derivative and integral sliding mode adaptive control for a class of nonlinear system and its application to an electro-hydraulic servo system[J].Proceedings of theCSEE,2005,25(4):103-108.
[6]YAO J Y,JIAO Z X,MA D W.High accuracy tracking control of hydraulic rotary actuators with modelling uncertainties[J].IEEE/ASME Transactions on Mechatronics,2014,19(2):633-641.
[7]SHEN Gang,ZHU Zhencai,ZHANG Lei,et al.Adaptive feed-forward compensation for hybrid control with acceleration time waveform replication on electro-hydraulic shaking table[J].Control Engineering Practice,2013,21(8):1128-1142.
[8]H.A.MINTSA,R.VENUGOPAL,J.P.KENNE,et al.“Feedbackl inearization-based position control of an electro-hydraulic servo system with supply pressure uncertainty,”[J].IEEE Trans.Control Syst.Technol.,2012,20(4):1092-1099.
[9]H.M.CHEN,J.C.RENN,J.P.SU.“Sliding mode control with varying boundary layers for an electro-hydraulic position servo system,”[J].Int.J.Adv.Manuf.Technol.,2005,26(1):117-123.
[10]D GARAGIC,K SRINIVASAN.Application of nonlinear adaptive control techniques to an electro hydraulic velocity servo mechanis[J].IEEE Tran.Control Systems Technology,2004,12(2):303-314.
[11]Z.HAS,M.F.RAHMAT,A.R.HUSAIN,et al.Sliding mode control with switching-gain adaptation based-disturbance observer applied to an electro-hydraulic actuator system[C]//2013 IEEE 8th Conference on Industrial Electronics and Applications(ICIEA),Melbourne,VIC,2013:668-673.
[12]R.GORE,A.SHIRALKAR,S.KURODE.Incomplete state feedback control of Electro-Hydraulic Servo System using second order sliding modes[C]//2016 14th International Workshop on Variable Structure Systems(VSS),Nanjing,2016:210-215.
[13]L.TIAN,L.QIAN,L.CHEN,et al.Sliding mode control based on backstepping method for electro-hydraulic singlerod actuator[C]//2015 IEEE International Conference on Information and Automation,Lijiang,2015:2326-2329.
[14]S.E.Ferik,B.O.Ayinde,S.Ibrir,et al.Backsteppingbased output feedback control of an electro-hydraulic servo system[C]//2015 IEEE 12th International Multi-Conference on Systems,Signals&Devices(SSD15),Mahdia,2015:1-6.
[15]A.CHAJI,S.K.H.SANI.Observer based feedback linearization control for electro-hydraulic servo systems[C]//2015 International Congress on Technology,Communication and Knowledge(ICTCK),Mashhad,2015:226-231.
[16]D.Won,W.Kim,D.Shin,et al.High-Gain Disturbance Observer-Based Backstepping Control With Output Tracking Error Constraint for Electro-Hydraulic Systems[J].IEEETransactions on Control Systems Technology,2015,23(2):787-795.