摘要
为了提高液压系统控制精度,提出基于LuGre模型双状态滑模估计的液压系统滑模控制算法。在摩擦模型不确定性参数的双状态估计中,借鉴滑模控制的核心思想,设计双状态滑模估计器,以提高状态估计精度及摩擦补偿精度。以双状态滑模估计的摩擦模型为基础,设计自适应滑模控制器,实现液压系统的位置跟踪控制,并通过李雅普诺夫函数证明了控制系统的稳定性。仿真结果表明:基于双状态滑模估计摩擦模型的液压系统自适应滑模控制,有效地提高了液压系统位置跟踪精度。
In order to improve the control precision of hydraulic system,a sliding mode control algorithm for hydraulic system based on dual state sliding mode estimation of LuGre model is proposed.In the two-state estimation of friction model uncertainty parameters,the dual-state sliding mode estimator is designed by reference to the core idea of sliding mode control to improve the state estimation accuracy and friction compensation accuracy.Based on the friction model of two-state sliding mode estimation,the adaptive sliding mode controller is designed to realize the position tracking control of the hydraulic system,and the stability of which is proved by Lyapunov function.The simulation results show that the sliding mode control of the hydraulic system based on the two-state sliding mode estimation friction model can effectively improve the accuracy of hydraulic system position tracking.
作者
党选举
张潇
DANG Xuan-ju;ZHANG Xiao(School of Electronic and Automation,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)
出处
《组合机床与自动化加工技术》
北大核心
2020年第8期118-121,125,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(61863008,61863007),广西自然科学基金(2016 GXNSFDA380001)。
关键词
液压系统
LUGRE模型
滑模控制
hydraulic servo system
LuGre model
sliding mode control
