单出杆液压缸位置伺服系统输出反馈控制

Output feedback control for single-rod cylinder position servo system

针对具有状态不可测的单出杆液压缸位置伺服系统,提出一种基于扩张状态观测器和鲁棒控制器的输出反馈控制算法。所构造的扩张状态观测器在观测系统状态的同时,对系统的匹配未知干扰进行估计,并在设计的控制器中进行主动干扰补偿,提高系统控制性能。理论分析表明,本文所提出的液压位置伺服系统输出反馈控制器能够保证闭环系统的所有信号有界,以及保证预定的瞬态和稳态跟踪性能,当系统不存在未知干扰时可使系统获得渐近跟踪性能。由仿真结果可见,系统跟踪误差最大约为0.03mm,相对跟踪误差约为0.02%,证明了所提算法的有效性。

For single-rod cylinder position servo systems with unmeasurable states, an output feedback control algorithm based on the extended state observer and a robust controller is proposed. The extended state observer is designed to estimate not only the unmeasurable system states, but also the matched unknown disturbances and then compensate them in a feedback way. Further more, theoretical analysis shows that the proposed controller can guarantee that all signals of the closed-loop system are bounded, and a prescribed tracking transient performance and final tracking accuracy are obtained while achieving asymptotic tracking per formance in the absence of unknown disturbances. Simulation results show that the maximum tracking error is about 0. 03 mm and relative tracking error about 0. 02%, which demonstrates the effectiveness of the proposed algorithm.