摘要
本文在液压系统的位置跟踪控制中 ,提出了基于逆向递推 (backstepping)技术的多级反演自适应控制方法 ,给出了控制器的设计方法及稳定性分析。仿真实验结果表明 ,该控制方法能有效地克服液压系统的非线性特性 ,具有较强的鲁棒性以及良好的跟踪性能。
A Multiple cascade adaptive control approach based on backstepping technique was proposed to treat with the control problem of a hydraulic servo position control system.The design method of the controller and the stability analysis of the system were given out.The results of simulation show that the control approach can overcome the nonlinear problem of the hydraulic system , has nice robustness ,and improves tracking accuracy considerably.
出处
《机床与液压》
北大核心
2004年第7期47-49,94,共4页
Machine Tool & Hydraulics
关键词
液压系统
位置跟踪
逆向递推
自适应控制
Hydraulic system
Position tracking
Backstepping
Adaptive control
