间歇激励条件下电液伺服系统的复合自适应控制

doi:10.16183/j.cnki.jsjtu.2019.06.001

上海交通大学学报 ›› 2019, Vol. 53 ›› Issue (6): 639-646.doi: 10.16183/j.cnki.jsjtu.2019.06.001

• 学报（中文） • 下一篇

间歇激励条件下电液伺服系统的复合自适应控制

郭秦阳，施光林，王冬梅

上海交通大学机械与动力工程学院，上海 200240

出版日期:2019-06-28 发布日期:2019-07-23
通讯作者: 施光林，男，副教授，博士生导师，电话(Tel.): 021-34206551；E-mail: glshi@263.net.
作者简介:郭秦阳（1987-），男，河北省沧州市人，博士生，主要从事流体传动与控制研究.
基金资助:
国家自然科学基金资助项目（51375304）

Composite Adaptive Control for Electro-Hydraulic Servo System Under Interval Excitation Condition

GUO Qinyang,SHI Guanglin,WANG Dongmei

School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Online:2019-06-28 Published:2019-07-23

摘要/Abstract

摘要： 针对电液伺服系统在间歇激励条件下的高精度轨迹追踪问题提出了一种复合自适应动态面控制方法.通过引入一阶指令滤波器对控制器设计过程中的虚拟控制信号进行处理，可以避免对其进行复杂的偏微分计算.为了实现对液压系统中未知阻尼系数与未知刚度系数的估计与补偿，设计了一种复合自适律，松弛了传统自适应控制方法中严格的持续激励条件.利用Lyapunov理论对闭环系统的稳定性进行了分析，并基于MATLAB/Simulink对比仿真结果验证了所提出控制方法的有效性.

关键词: 电液伺服系统；未知参数；轨迹追踪；复合自适应控制；动态面控制

Abstract: A composite adaptive dynamic surface control method was proposed for high accuracy trajectory tracking of an electro-hydraulic servo system under interval excitation condition. By introducing the first-order command filters to process the virtual control signals during the controller designing process, the complicated calculation of the partial derivatives of the virtual control signals could be avoided. In order to realize the estimation and compensation of the unknown damping coefficient and unknown stiffness coefficient of the hydraulic system, a composite adaptive law was designed, and the stringent persistent excitation condition of the conventional adaptive control method was relaxed. The stability of the closed-loop system was analyzed by using Lyapunov theory, and the comparative simulation results based on MATLAB/Simulink have verified the effectiveness of the proposed control method.

Key words: electro-hydraulic servo system; unknown parameters; trajectory tracking; composite adaptive control; dynamic surface control

中图分类号:

郭秦阳，施光林，王冬梅. 间歇激励条件下电液伺服系统的复合自适应控制[J]. 上海交通大学学报, 2019, 53(6): 639-646.

GUO Qinyang,SHI Guanglin,WANG Dongmei. Composite Adaptive Control for Electro-Hydraulic Servo System Under Interval Excitation Condition[J]. Journal of Shanghai Jiaotong University, 2019, 53(6): 639-646.

参考文献

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间歇激励条件下电液伺服系统的复合自适应控制

Composite Adaptive Control for Electro-Hydraulic Servo System Under Interval Excitation Condition

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