| 引用本文: | 方一鸣,许衍泽,李建雄.具有输入饱和的电液伺服位置系统自适应动态面控制[J].控制理论与应用,2014,31(4):511~518.[点击复制] |
| FANG Yi-ming,XU Yan-ze,LI Jian-xiong.Adaptive dynamic surface control for electro-hydraulic servo position system with input saturation[J].Control Theory and Technology,2014,31(4):511~518.[点击复制] |
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| 具有输入饱和的电液伺服位置系统自适应动态面控制 |
| Adaptive dynamic surface control for electro-hydraulic servo position system with input saturation |
| 摘要点击 2837 全文点击 1884 投稿时间：2013-07-24 修订日期：2013-11-08 |
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| DOI编号 10.7641/CTA.2014.30778 |
| 2014,31(4):511-518 |
| 中文关键词 电液伺服位置系统 饱和 动态面控制 Nussbaum函数 自适应控制 |
| 英文关键词 electro-hydraulic servo position system saturation dynamic surface control Nussbaum function adaptive control |
| 基金项目 国家自然科学基金资助项目(61074099); 秦皇岛市科学技术研究与发展计划资助项目(2012021A006); 河北省高等学校创新团队领军人才培育计划资助项目(LJRC013). |
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| 中文摘要 |
| 针对具有非线性、参数不确定性及输入饱和问题的电液伺服位置系统, 提出了一种自适应动态面控制器的设计方法. 该方法充分考虑饱和特性, 利用双曲正切函数和辅助控制信号对系统非线性模型进行等价变换, 进而采用动态面方法设计抗饱和控制器. 设计过程中引入Nussbaum函数, 以补偿输入饱和引起的非线性项. 通过构造合适的Lyapunov函数, 证明闭环系统的所有信号一致最终有界. 仿真结果表明, 所设计的控制器具有良好的跟踪效果, 并有效地削弱了输入饱和对系统造成的不良影响. |
| 英文摘要 |
| A controller design method based on adaptive dynamic surface is proposed for electro-hydraulic servo position system containing nonlinearity, parameter uncertainties and input saturation problem. Taking the saturation characteristic into account sufficiently, we use a hyperbolic tangent function and an auxiliary control signal to achieve equivalent transformation of the nonlinear model. The anti-windup controller is thus obtained by using dynamic surface method. In the design process, a Nussbaum function is introduced to compensate for the nonlinear term arising from the input saturation. It is proved by constructing appropriate Lyapunov function that all the signals in the closed-loop system are uniformly ultimately bounded. The simulation results show that the designed controller works with good tracking effect and reduces the adverse effects caused by input saturation effectively. |