液压伺服系统模糊滑模变结构控制研究

本文以电液伺服阀输入电流为控制量,采用模糊滑模控制使液压缸杆位移跟踪给定值。滑模变结构控制对参数不确定,负载变化系统具有较强的鲁棒性。将滑模控制中的符号函数模糊化,设计自适应增益调节函数,不需要干扰上界的先验知识,且降低传统滑模变结构控制引入液压伺服系统控制中带来的抖振现象。通过仿真试验,模糊滑模控制液压缸杆位移跟踪规划曲线效果优于传统滑模变结构控制。

In this paper,the current of electro-hydraulic servo valve is taken as the control input and fuzzy sliding mode control method is applied to the trajectory tracking of the hydraulic cylinder to handle the parameter uncertainty and disturbance.One fuzzy inference engine is employed for the reaching control laws to attenuate the chattering phenomena with two sets of fuzzy rules based on the fuzzification of the sliding surface and the derivative of the sliding surface.The adaptive law of the gain factor is designed.Simulation of the comparison of the adaptive fuzzy sliding mode control with integral sliding surface and the traditional sliding mode control for the desired trajectory tracking are presented and shows the effectiveness and superiority of the former.