| 引用本文: | 刘胜斐,孙青林,陈增强,丁祉峰.比例阀控电液系统抗扰换向滞后补偿反步控制[J].控制理论与应用,2020,37(7):1521~1534.[点击复制] |
| LIU Sheng-fei,SUN Qing-lin,CHEN Zeng-qiang,DING Zhi-feng.Switch delay compensation and disturbance rejection control for proportional valve controlled electro-hydraulic system with backstepping method[J].Control Theory and Technology,2020,37(7):1521~1534.[点击复制] |
|
| 比例阀控电液系统抗扰换向滞后补偿反步控制 |
| Switch delay compensation and disturbance rejection control for proportional valve controlled electro-hydraulic system with backstepping method |
| 摘要点击 1839 全文点击 585 投稿时间：2018-12-12 修订日期：2020-03-15 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2020.80972 |
| 2020,37(7):1521-1534 |
| 中文关键词 抗扰反步控制 线性扩张状态观测器 换向滞后补偿 电液位置控制系统 比例阀 |
| 英文关键词 disturbance rejection backstepping control linear extended state observer switch delay compensation electro-hydraulic control system proportional valve |
| 基金项目 国家自然科学基金(61973172, 61273138, 61973175, 61573197)，天津市重点技术研究计划项目(19JCZDJC32800), 天津市科技计划项目(15ZXGTSF00020) |
|
| 中文摘要 |
| 针对比例阀存在换向滞后, 电液系统受到的外部干扰, 液压油弹性模量随渗入的空气变化、未建模动态, 这
些因素增加了设计电液位置控制器的难度, 本文使用线性扩张状态观测器(LESO)对比例阀控电液系统的内部扰
动、外部扰动、未建模动态进行估计, 将虚拟控制量的非线性函数纳入抗扰反步控制器设计, 实现比例阀控电液系
统换向滞后补偿. 分析了闭环系统的稳定性, 证明当扰动导数有界时, 观测误差和跟踪误差都有界, 调整控制器增益
与非线性项参数可使跟踪误差收敛到原点附近, 仿真和实验表明, 本文设计的控制器能显著缩短比例阀换向滞后、
提高电液位置控制系统的跟踪速度、精度与抗扰能力. |
| 英文摘要 |
| It is difficult to design the controller for the electro-hydraulic system regulated by the proportional valve,
because there are the switch delay, the external disturbance, the nonlinear friction, and the unmodeled dynamics as well
as oil effective bulk modulus variation due to the entrained air. The linear extended state observer (LESO) is used to
estimate the generalized disturbance including internal disturbance, the external disturbance and the unmodeled dynamics.
Furthermore, the nonlinear function is designed in the disturbance rejection backstepping controller to compensate the
dead-zone so that the load can follow the desired trajectory precisely. The stability of the system is analyzed, and it has
been proven that both the estimation error and the tracking error are bounded when the derivative of the disturbance is
bounded; moreover, the tracking error can converge to the neighborhood of the origin by adjusting controller gain and
parameters of the nonlinear term. Simulations and experiments show that the switch delay can be reduced and the load can
track the desired trajectory quickly and accurately under the external disturbance. |
|
|
|
|
|