电液伺服力控系统的自适应滑模控制

ADAPTIVE SLIDING MODE CONTROL FOR ELECTROHYDRAULIC SERVO FORCE CONTROL SYSTEMS

针对存在不确定性的非线性电液伺服力控系统的跟踪控制问题,基于等价控制的概念,提出了一种自适应滑模控制律综合方法,应用参数自适应的方法,消除不确定性对控制性能的影响,以达到鲁棒跟踪控制的目的。为了证明这种控制器可行性,利用微机实现的该控制器被应用于某疲劳试验机电液伺服系统,实时控制的结果验证了所提方法的有效性。

A design method of adaptive sliding mode control law based on the equivalent control is presented aiming at the tracking control problem of electrohydraulic servo force control systems with uncertainties and nonlinearities. To eliminate the influence of uncertainties on the control performance a parameter adaptive method is used. Consequently the goal of robust tracking control is obtained. To illustrate the feasibility of this controller, it is implemented using a microcomputer on an electrohydraulic servo system of fatigue testing machine. The results of the real-time control verify the validity of the proposed adaptive sliding mode control method.