| 采用RBF网络的喷雾机喷杆自适应动态面跟踪控制 |
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| 引用本文： | 芦泽阳,李树江,王向东.采用RBF网络的喷雾机喷杆自适应动态面跟踪控制[J].应用数学和力学,2019,40(7):801-809. |
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| 作者姓名： | 芦泽阳 李树江 王向东 |
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| 作者单位： | 沈阳工业大学 信息科学与工程学院, 沈阳 110870 |
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| 基金项目： | 国家“十三五”重点课题（2016YFD0700104） |
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| 摘 要： | 为了实现喷雾机喷杆快速而准确地伺服跟踪农作物冠层高度,选用电液伺服系统作为其位置调节装置,系统建模以喷雾机喷杆为负载的电液伺服系统.首先,充分考虑系统的强非线性和参数不确定因素,建立完整的数学模型;然后,采用动态面方法设计控制器,通过RBF网络对不确定项和非线性函数进行逼近,在控制律中加入阻尼项补偿干扰对系统性能的影响;基于Lyapunov稳定性方法,证明闭环系统信号最终一致有界;最后,对某喷雾机喷杆系统进行仿真验证,结果表明设计控制器具有良好的仿形跟踪控制性能.
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| 关 键 词： | 喷雾机喷杆 电液伺服系统 动态面控制 仿形跟踪 |
| 收稿时间： | 2018-10-17 |
Adaptive RBF-Network Dynamic Surface Tracking Control of Sprayer Boom Systems |
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| LU Zeyang,LI Shujiang,WANG Xiangdong.Adaptive RBF-Network Dynamic Surface Tracking Control of Sprayer Boom Systems[J].Applied Mathematics and Mechanics,2019,40(7):801-809. |
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| Authors: | LU Zeyang LI Shujiang WANG Xiangdong |
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| Affiliation: | School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, P.R.China |
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| Abstract: | To realize fast and accurate servo tracking of the canopy height, an electro-hydraulic servo system was used for the position adjustment device. The electro-hydraulic servo system was modeled with the load of the sprayer boom. First, the strong non-linearity and parameters’ uncertainties were well considered and the complete system model was built, and the controller was designed with the dynamic surface control method. Then the RBF network was used to approximate the non-linearity and uncertainty functions, the control law was applied with damping terms to compensate for the disturbance influences on the system, and all the signals in the closed loop system were proved to be uniformly bounded based on the Lyapunov stability method. Finally, simulation and verification of a sprayer boom with the electro-hydraulic servo system were conducted. The results show that the designed controller has good copy tracking performances. |
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| Keywords: | sprayer boom electro-hydraulic servo system dynamic surface control copy tracking |
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