具有输入饱和的电液伺服位置系统自适应动态面控制

Adaptive dynamic surface control for electro-hydraulic servo position system with input saturation

针对具有非线性、参数不确定性及输入饱和问题的电液伺服位置系统,提出了一种自适应动态面控制器的设计方法.该方法充分考虑饱和特性,利用双曲正切函数和辅助控制信号对系统非线性模型进行等价变换,进而采用动态面方法设计抗饱和控制器.设计过程中引入Nussbaum函数,以补偿输入饱和引起的非线性项.通过构造合适的Lyapunov函数,证明闭环系统的所有信号一致最终有界.仿真结果表明,所设计的控制器具有良好的跟踪效果,并有效地削弱了输入饱和对系统造成的不良影响.

A controller design method based on adaptive dynamic surface is proposed for electro-hydraulic servo position system containing nonlinearity,parameter uncertainties and input saturation problem.Taking the saturation characteristic into account sufficiently,we use a hyperbolic tangent function and an auxiliary control signal to achieve equivalent transformation of the nonlinear model.The anti-windup controller is thus obtained by using dynamic surface method.In the design process,a Nussbaum function is introduced to compensate for the nonlinear term arising from the input saturation.It is proved by constructing appropriate Lyapunov function that all the signals in the closed-loop system are uniformly ultimately bounded.The simulation results show that the designed controller works with good tracking effect and reduces the adverse effects caused by input saturation effectively.