电液位置伺服系统的鲁棒自适应控制

针对由于参数不确定性、非线性等因素导致的电液位置伺服系统跟踪控制问题，基于Lyapunov(李雅普诺夫)稳定性理论，提出了一种具有参数自适应能力的鲁棒自适应反步方法.通过设计的自适应律来抑制由于参数不确定性对系统跟踪控制性能的影响，设计的鲁棒控制律使得系统具有全局一致渐近稳定性能.此外，还对伺服阀换向引起的不连续性进行了近似处理.以伺服阀控对称缸系统为控制对象，仿真结果表明，和传统的PD控制方法相比，在参数不确定性的情况下，该控制方法使得电液伺服系统的位置跟踪误差波动较小，且能以较快速度渐近收敛到0，同时所需要的伺服阀输入电压信号值也更小，相关不确定参数在经过较短时间后均可以收敛到其稳定值，从而验证了所提出算法的有效性.

A Robust Adaptive Backstepping Control Method for Electro-Hydraulic Position Servo Systems

Aimed at the tracking control problem of electro-hydraulic servo systems due to the parameter uncertainties and nonlinear characteristics et al.,a robust adaptive backstepping method with parameter adaptive performances was presented based on the Lyapunov stability theory.The adaptive law was designed to suppress the influences of parameter uncertainties on the tracking control performances of the system and the robust control law rendered the system globally uniformly asymptotically stable.In addition,the discontinuity caused by the direction change of the servo valve was approximated.With the servo valve-controlled symmetric cylinder as the control object,the simulation results show that,compared with the traditional PD control method,the proposed backstepping control method renders the tracking error fluctuation of the electro-hydraulic position servo system slighter and the convergence rate faster,and requires a much lower input signal voltage for the servo valve smoother,so the uncertain parameters can converge to and keep at the their stable values after a short period of time.An example proves the effectiveness of the proposed algorithm.