摘要
为提高电动静液作动器(EHA)的控制性能,提出了一种基于模糊控制和反步控制的复合控制策略,首先分析了电动静液作动器(EHA)的结构组成与工作原理,并建立了数学模型,然后将反步控制应用于力控制外环,模糊PI控制应用于电机转速控制内环,并对系统进行仿真分析,比较了模糊反步复合控制与双环PID控制的性能。结果表明所提控制算法具有较强的抗干扰能力与鲁棒性。
In order to improve the electro-hydraulic actuator(EHA)control,this paper proposes a compound control strategy based on fuzzy control and backstepping control.Firstly,the structure composition and working principle of EHA are analyzed,and a mathematical model is established.Then,the backstepping control is applied to the outer ring of force control and the fuzzy PI control is applied to the inner ring of motor speed control.A simulation analysis of the system is carried out,and the performance of fuzzy backstepping compound control is compared with that of double-loop PID control.The results show that the proposed control algorithm has strong anti-disturbance ability and robustness.
作者
李杰
田俊
LI Jie;TIAN Jun(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《控制工程》
CSCD
北大核心
2021年第7期1382-1389,共8页
Control Engineering of China
关键词
电动静液作动器
模糊控制
反步控制
力控制
Electro-hydraulic actuator(EHA)
fuzzy control
backstepping control
force control
