仿人智能与滑模控制相融合的液压无模型控制

Model-free Control of Hydraulic Combining Human-simulated Intelligent with Sliding Mode Control

针对电液伺服位置系统是一个多变量、强耦合、非线性控制系统,考虑到现有基于模型的控制方法对系统动力学模型的依赖性,以及未建模动态对系统控制性能的影响,设计了一种仿人智能控制与滑模控制相融合的液压系统无模型控制。为了提高系统的响应速度和稳态精度,将仿人智能控制的偏差与偏差变化率的乘积融入到滑模控制,设计一种全新的滑模函数,与无模型控制器结合,提出改进的无模型控制器。在相同条件下,通过无模型自适应控制、无模型自适应滑模控制与所提出的仿人智能控制与滑模控制相融合无模型控制进行仿真比较,结果表明,所设计的控制器收敛快,稳态误差小,且提高对扰动和模型变化的适应性。

Since the electro-hydraulic servo position system is a multivariable,strongly coupled,non-linear control system,in view of the dependence of existing model-based control methods on the system dynamics model and the impact of un-modeled dynamics on the system control performance,a model-free control of hydraulic system combining human-simulated intelligent control and sliding mode control is designed.In order to improve the response speed and steady-state accuracy of the system,the product of the deviation and deviation rate of human-simulated intelligent control is integrated into sliding mode control,a new sliding mode function is designed,combined with model-free control,an improved model-free controller is proposed.Under the same conditions,the simulation comparison between model-free adaptive control,model-free adaptive sliding mode control and the proposed human-simulated intelligent control and sliding mode control is combined with model-free control.The results show that the designed controller has fast convergence speed,small steady-state error,and improved adaptability to disturbances and model changes.