基于干扰观测器的电液伺服系统反馈线性化滑模控制

Feedback Linearization Sliding Mode Control Based on Disturbance Observer for Electro-hydraulic Servo System

为抑制电液伺服系统中各种非线性因素及不确定干扰,提出了基于输入输出反馈线性化的滑模控制与非线性干扰观测器相结合的控制策略以提高其位置控制跟踪精度。以电液振动台为试验对象,建立其非线性控制模型,利用李雅普诺夫稳定性理论保证了位置闭环系统的全局稳定性。利用MATLAB/Simulink对设计的控制器进行了仿真验证,结果验证了提出的控制器的可行性。为了模拟实际环境下存在不确定干扰,在位置电液系统基础上增加了电液加载系统,开展了试验研究。结果表明,该控制器能有效的提高干扰下电液伺服系统的位置跟踪性能。

In order to reduce the influence of various nonlinear factors and uncertain disturbances in electro-hydraulic servo system, a control strategy based on input-output feedback linearization combining sliding mode control with a nonlinear disturbance observer is proposed to improve tracking accuracy of system s position control. An electro-hydraulic shaking table is employed to verify the effectiveness of the designed controller. A nonlinear model is established and the global stability of position closed-loop system is ensured by the Lyapunov theory. The designed controller is simulated by MATLAB/Simulink, and the result of simulation verifies the feasibility of the proposed controller. An electro-hydraulic loading system is added to an electro-hydraulic position system to simulate the uncertain force interference in an actual environment, and an experimental research is carried out. These experimental results show that the proposed controller can effectively improve position tracking performances of electro-hydraulic servo system under disturbance.