机带海水冷却电液伺服系统反步抗扰控制研究

Backstepping Disturbance Rejection Control for Electric Hydraulic Servo Cooling System of Ships

针对船舶传动装置机带海水冷却系统的电液伺服系统,通过详细建立阀控液压马达系统的数学模型,提出反步抗扰控制策略。该方法利用反步设计方法将系统分为3个子系统,分别设计相应的控制率;考虑系统中的非匹配干扰和匹配干扰,结合不确定性和干扰估计器以及观测器设计方法,提出一种状态和干扰估计器,估计系统状态、非匹配干扰和匹配干扰,并将估计值带入反步法设计的控制率,获得最终的反步抗扰控制率。分析状态和干扰估计器的稳定性,证明闭环系统跟踪误差最终一致有界。采用PID控制和反步控制作为对比,仿真验证反步抗扰控制的跟踪性能。结果表明:所提出的反步抗扰控制方法具有较强的抗扰鲁棒性,能够有效补偿干扰,进而获得快速准确的跟踪效果。

Takes the electro-hydraulic servo system of ship as the research object and establishes the mathematical model of valve-controlled hydraulic motor system in detail.A backstepping disturbance rejection control strategy is proposed,which divides the whole system into three subsystems to design corresponding control laws by means of the backstepping method.Furthermore,taking the mismatched and matched disturbances of the system into account,a state and disturbance estimator combining uncertainties and disturbance estimator with observer design method is designed to estimate the states,mismatched and matched disturbances.Then,the backstepping disturbance rejection control law is obtained by substituting the estimated values into the control law of backstepping.Additionally,the stability of the state and the disturbance estimator is analyzed and the eventual uniform bounding of tracking errors in closed-loop systems is verified.Finally,the effectiveness of the backstepping disturbance rejection controller is verified by comparison with PID controller.Meanwhile,the simulation results show that the proposed control method has strong anti-disturbance robustness,can effectively counteract the disturbance,and obtain fast and accurate tracking capability.