EHA反馈线性化最优滑模面双模糊滑模控制

Double fuzzy sliding mode control for EHA based on feedback linearization optimal sliding surface

为提高电静液作动器(EHA)控制性能,提出了一种反馈线性化最优滑模面的双模糊滑模控制方法。该方法在EHA的非线性模型上,利用反馈线性化方法将其线性化,在此基础上建立线性切换函数,并采用最优控制理论对切换函数进行设计。为削弱抖振将模糊控制算法引入滑模控制中,采用一个模糊控制器,根据最优滑模函数运动特性的数值对切换控制增益进行估计;采用另一个模糊控制器,根据滑模控制原理对切换控制项进行调整。仿真结果证明了该方法的有效性。

In order to improve the control performance for electro-hydrostatic actuator（ EHA）,double fuzzy sliding mode control based on feedback linearization optimal sliding surface was proposed. The nonlinear model of EHA was linearized based on the feedback linearization by establishing linear switching function and adopting optimal control theory. Fuzzy control was introduced into sliding mode control to reduce the chattering,and a fuzzy controller was adopted to estimate the switching control gain based on the characteristics of optimal sliding mode switching function; another fuzzy controller was adopted to adjust the corrective controller based on the principle of the sliding mode control. The simulation results show that the proposed control scheme is effective.