电液位置伺服系统的反馈线性化滑模控制研究

Feedback Linearized Sliding Mode Control for Electrohydraulic Position Servo Systems

针对电液位置伺服系统中存在的各种非线性因素和外界干扰不确定性等问题,提出了一种将反馈线性化理论与滑模变结构理论相结合的控制策略,建立了电液位置伺服系统的非线性数学模型,并采用反馈线性化理论对该系统中的非线性因素精确线性化,同时利用滑模变结构理论对系统中的外界干扰不确定性进行补偿。在Matlab/Simulink环境中,搭建某电液位置伺服控制系统模型,对提出的控制算法进行仿真验证。仿真结果表明,该控制算法相对传统比例-积分-微分(proportion integration differentiation,PID)控制算法位移跟踪误差缩小了99.38%,相对滑模控制算法位移跟踪误差缩小了98.77%,而且还消除了滑模控制的抖振问题,说明该控制算法有效改善了系统的位置跟踪品质,提高了系统的鲁棒性,并且削弱了系统抖振。该研究有效抑制了电液位置伺服控制系统的各种因素对位置跟踪精度的影响,提高了系统的控制精度。

To address the various non-linearities and external interference uncertainties in electro-hydraulic position servo systems,a control strategy is proposed by combining feedback linearization theory and sliding-mode variable structure theory.The nonlinear mathematical model of the electro-hydraulic position servo system is established,and the nonlinear factors in the system are accurately linearized by the feedback linearization theory,and the external disturbance uncertainties in the system are compensated by the sliding mode variable structure theory.It builds an electro-hydraulic servo control system model in Matlab/Simulink environment and to simulate and verify the proposed control algorithm.The Simulation results show that the control algorithm reduces the displacement tracking error by 99.38%compared to traditional PID(Proportion Integration Differentiation)control algorithm and 98.77%compared to the sliding mode control algorithm,and also eliminates the jitter problem of the mode control.This shows that the control algorithm effectively improves the quality of the system position tracking,improves the robustness of the system and reduces the system jitter.The study effectively restrains the influence of various factors of the electro-hydraulic position servo control system on the position tracking precision,and improves the control precision of the system.