摘要
针对存在参数不确定性的电液位置伺服系统的跟踪控制问题 ,基于滑模控制理论 ,提出了一种具有参数自适应能力的自适应滑模控制方法。通过自适应方法 ,来消除参数不确定性对系统控制性能的影响 ,进而实现鲁棒控制。基于李雅普诺夫稳定性理论证明了自适应滑模控制系统的渐近稳定性。将该方法应用于某疲劳试验机电液伺服系统的跟踪控制 。
Aiming at the tracking control problem of electrohydraulic position servo systems,a design method of adaptive sliding mode control with parameter adaptive performances,was presented based on sliding mode control theory. To eliminate the influence of parameter uncertainties on the control performances an adaptive method was used. Consequently the goal of robust tracking control was obtained and the asymptotical stability of adaptive sliding mode control systems was proved based on Lyapunov theory. The proposed adaptive sliding mode control method is applied to an electrohydraulic servo system of fatigue testing machine. The results of simulation and real-time control verify the validity of the proposed method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第3期202-205,共4页
China Mechanical Engineering
基金
山西省自然科学基金资助项目 ( 2 0 0 0 10 5 4)
关键词
自适应滑模控制
电液位置伺服系统
仿真
实时控制
adaptive sliding mode control
electrohydraulic position servo system
simulation
real-time control
