泵控缸电液位置伺服系统的自适应模糊滑模控制

Adaptive Fuzzy Sliding Mode Control of Electro-hydraulic Position Servo System of Pump-controlled Cylinder

针对泵控缸电液位置伺服系统的跟踪控制问题,设计了自适应模糊滑模变结构控制器。为了使等效控制器的设计不依赖于对象的精确数学模型,利用自适应模糊系统代替等效控制器,并且为了消除外界干扰、抑制抖振,利用模糊系统动态调节控制增益。仿真结果表明,该方法能保证系统具有较优的动态响应和稳态控制精度,并且对外界干扰及结构参数不确定性具有很强的鲁棒性。

An adaptive fuzzy sliding mode variable structure control approach was proposed for tracking control problems of the electro-hydraulic position servo system of the pump-controlled cylinder. In order to make the equivalent controller independent of the object＇s accurate mathematic model, the equivalent controller was substituted by adaptive fuzzy controller. To reject disturbance and reduce chattering, a fuzzy scheduling mechanism was designed to tune the control gain. The simulation results show that the system possesses strong dynamic response, stable control accuracy and robust to structure parameters uncertainties and external disturbance.