线性不确定性电液位置伺服系统的前馈补偿滑模鲁棒跟踪控制研究

Research on the Robust Tracking Control of Electro-hydraulic Position Servo Systems with Uncertainties by Using Sliding-mode Control with Feed-forword Compensator

针对线性不确定性系统的鲁棒跟踪控制问题,提出了一种前馈补偿滑模鲁棒跟踪控制方法,并证明了采用该方法所构成的闭环系统是李亚普诺夫意义下渐近稳定的,将该控制器设计方法应用于某结构疲劳试验机电液位置伺服控制系统,验证了所设计控制器的有效性。仿真和实时控制结果均证明:对存在不确定性的结构疲劳试验机电液位置伺服系统,应用该研究所提出的具有前馈补偿的滑模鲁棒跟踪控制器,能较有效地削弱常规VSC所固有的抖振现象,在不同的负载条件下跟踪不同频率的正弦信号均能获得良好的跟踪精度,控制器对系统的不确定性呈现较强的鲁棒性。

A robust sliding-mode tracking control method with the feedforward compensation is presented for the robust tracking control problems in the linear uncertainties systems. The asymptotical stability of the closed-loop systems with using the method is verified by Lyapnov criterion. The controller is used in the electro-hydraulic position servo systems of a structure fatigue test machine, and the validity of the controller is proved. The results of simulation and real-time control show that the robust sliding-mode tracking controller with the feedforward compensation presented in this paper can effectively weaken the chattering in VSC. The good tracking precision can be obtained when the systems tracking the sinusoidal signal with different frequency under the different load, and the controller appears the robustness with respect to the uncertainties in the systems.