基于误差多项式的模型参考自适应控制在阀控非对称缸系统中的应用

APPLICATION OF ERROR POLYNOMIAL THEORY BASED MODEL REFERENCE ADAPTIVE CONTROL IN THE SYSTEM OF ASYMMETRIC CYLINDER CONTROLLED BY SYMMETRIC VALVE

基于误差方程多项式代数法的自适应控制设计理论,其基本思想是使自适应控制误差随时间的推移而趋向于零,它是确保所构成的自适应控制系统在李雅普诺夫意义下是稳定的。以对称阀控非对称缸液压伺服系统为研究对象,给出了适合应用于该系统的自适应控制算法,使系统的输出渐进一致地收敛于参考模型的理想输出,解决了对称滑阀控非对称液压缸系统存在的动态性能不对称,系统精度低,稳定性差,频宽窄和滞后大等问题。

The main idea of adaptive control design theory based on the error polynomial algebra is to make the adaptive control error incline to zero as time passed. It can make the adaptive control system be steady on the basis of the theory of LIAPUNOV A M. An adaptive control method adapted to the asymmetric cylinder hydraulic servo system controlled by symmetric valve is presented to make the output of the system follow the output of the reference model progressively, so that the problems of dynamic performance asymmetry, low accuracy, low stability, narrow bandwidth and big delay are resolved.