| 引用本文: | 姚文龙,亓冠华,池荣虎,邵巍.具有未知负载扰动的水井钻机电液伺服系统无模型自适应控制[J].控制理论与应用,2022,39(2):231~240.[点击复制] |
| YAO Wen-long,QI Guan-hua,CHI Rong-hu,SHAO Wei.Model-free adaptive control for water well drilling rig electro-hydraulic servo with unknown load disturbance[J].Control Theory and Technology,2022,39(2):231~240.[点击复制] |
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| 具有未知负载扰动的水井钻机电液伺服系统无模型自适应控制 |
| Model-free adaptive control for water well drilling rig electro-hydraulic servo with unknown load disturbance |
| 摘要点击 1502 全文点击 627 投稿时间：2020-11-11 修订日期：2021-11-21 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2021.00792 |
| 2022,39(2):231-240 |
| 中文关键词 水井钻机 电液伺服系统 无模型自适应控制 径向基神经网络 扰动 |
| 英文关键词 water well drilling rig electric hydraulic servo system model-free adaptive control radial basis function neural network disturbances |
| 基金项目 青岛市自主创新重大专项(21–1–2–14–zhz), 山东省重大科技创新工程(2021SFGC0601), 国家自然科学基金项目(61873139), 山东省自然科学基 金项目(ZR2017MEE071)资助. |
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| 中文摘要 |
| 针对电液伺服系统在水井钻机推进工况下存在的参数不确定以及未知负载扰动突变等非线性因素, 提出
了基于径向基(RBF)神经网络扰动观测器的无模型自适应控制方法. 首先, 通过改进的无模型自适应控制动态线性
化方法, 将被控系统线性化为与输入输出相关的增量形式, 并将未知负载扰动合并到一个非线性项中; 然后, 设计了
径向基神经网络扰动观测器对含有未知负载扰动的非线性项进行估计, 作为对未知扰动的补偿; 最后, 设计了时变
参数估计律, 通过在线调整伪偏导数, 给出了电液伺服系统的控制更新律. 仿真结果表明, 所设计的控制器能够对未
知负载扰动突变进行补偿, 并能确保跟踪误差有界收敛. |
| 英文摘要 |
| A model-free adaptive control method based on radial basis function neural network disturbance observer is
designed to solve the non-linear problems such as unmodelled dynamics and load disturbances mutations in the electrohydraulic
servo system under the propulsion working condition of water well drilling rig. Firstly, the model-free adaptive
dynamic linearization method is utilized to linearize the controlled system into an incremental form relative to the input and
output of control system, where the uncertain disturbances are incorporated into a nonlinear term. Secondly, a radial basis
function neural network disturbance observer is designed to estimate the unknown load disturbance as the compensation of
mutations for the disturbances. Finally, the time-varying parameter estimation law is proposed, thence an electro-hydraulic
servo system control updating law is acquired by the online adjusting the pseudo partial derivatives. The simulation results
show that the compensation of with unknown load disturbances is realized and the sound convergence of tracking error is
ensured by the proposed control scheme. |
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