电液伺服系统的积分滑模自适应控制

Integral Sliding Mode Adaptive Control for Electro-Hydraulic Servo System

针对一类参数不确定的非线性系统,提出了一种积分滑模自适应控制策略。在滑模控制中引入积分控制项,消除了传统滑模变结构控制需要被跟踪信号导数已知的假设,同时基于Lyapunov方法引入参数自适应律,使系统具有优良的抗干扰特点。本文采用该控制方法,对电液伺服系统的液压缸位置进行跟踪控制。仿真结果显示,该方法具有较强的鲁棒性及良好的跟踪性能。

This paper presents an integral sliding mode adaptive control scheme for a class of nonlinear system with uncertain parameters. The control approach introduces integral control to avoid assuming that the derivative of desired signal must be known in conventional sliding mode variable structure control, and uses adaptation algorithm based on Lypunov analysis to make the system insensitive to parameter uncertainties. The proposed method is applied to position tracking control of electro-hydraulic servo system. Simulation results indicate that the control approach is robust and improves tracking accuracy considerably.