摘要
针对电液伺服系统的精确位置跟踪控制问题,引入虚拟控制量的概念,提出了一种逆向递推控制器的设计方法;同时考虑到实际系统存在内部参数和外负载力的不确定性,采用Lyapunov稳定理论对系统的不确定性进行自适应控制律设计,最终得到了自适应Backstepping控制器,并进行了稳定性分析。仿真结果表明,设计的自适应Backstepping控制器不需要知道内部不确定性参数和外部负载力干扰的边界,与常规PID控制方法相比,具有较强的鲁棒性及良好的位置跟踪性能。
To deal with the issue of accurate position tracking and control of electro-hydraulic servo system for driving continuous casting mold, the design method of backstepping controller is proposed. In consideration of the uncertainty of internal parameter and external load force existing in practical system, adaptive control law is designed by adopting Lyapunov stability theory for the uncertainty of system. Thus the adaptive backstepping controller is implemented and its stability is analyzed. The result of simulation shows that for the controller designed, it is not nec- essary to know the boundaries of the uncertainty of internal parameter and external load force. Comparing with the conventional PID controller, this controller offers higher robustness and better position tracking performance.
出处
《自动化仪表》
CAS
2008年第11期54-57,共4页
Process Automation Instrumentation
