基于奇异摄动理论的电液伺服系统Backstepping滑模自适应控制

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振动与冲击 ›› 2012, Vol. 31 ›› Issue (11) : 154-157.

论文

基于奇异摄动理论的电液伺服系统Backstepping滑模自适应控制

吴忠强, 夏青

作者信息 +

Backstepping sliding mode adaptive control of electro-hydraulic servo system based on the singular perturbation theory

WU Zhong-qiang, XIA Qing

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摘要

针对电液伺服位置跟踪系统中存在的非线性特性、系统参数和外部负载的非匹配不确定性，提出了基于奇异摄动理论的电液伺服系统的Backstepping滑模自适应控制。利用奇异摄动中双时间刻度理论将原系统分解为快慢变子系统，分别设计快变和慢变子系统的控制律，再合成得到复合控制器。应用Backstepping的逆向递推方法有效地解决了高阶非线性系统的控制问题，用滑模方法抑制系统的外部扰动，对系统的不确定性参数进行自适应估计。数字仿真的结果验证了所设计控制器的正确性和有效性。

Abstract

The position control of an electro-hydraulic servo system is studied. Because the dynamics of system are highly nonlinear and have large extent of model uncertainties including big changes in load and hydraulic parameters, moreover these uncertainties are unmatched, a Backstepping sliding mode adaptive control approach based on the singular perturbation theory is proposed. Based on the double time scale theory in singular perturbation, an original system is divided into fast and slow subsystem. The control laws of fast and slow subsystems were designed separately and the compound control was attained. The Backstepping technique is used to solve the control problem of high-order nonlinear system, using the sliding mode to suppress external disturbances, making adaptive estimation for uncertain parameters. Simulation results are provided to show the effectiveness of the presented approach.

导出引用

吴忠强; 夏青. 基于奇异摄动理论的电液伺服系统Backstepping滑模自适应控制[J]. 振动与冲击, 2012, 31(11): 154-157

WU Zhong-qiang; XIA Qing. Backstepping sliding mode adaptive control of electro-hydraulic servo system based on the singular perturbation theory[J]. Journal of Vibration and Shock, 2012, 31(11): 154-157