基于线性化的液压马达伺服系统滑模控制

Sliding Mode Control of Hydraulic Motor Servo System based on Linearization

针对液压马达伺服控制系统由于系统强非线性引起的精确控制困难的问题,提出了基于线性化和滑模控制算法的自适应鲁棒积分滑模控制器。在不改变系统模型的前提下,应用线性化将系统模型中的部分非线性项进行线性化处理,降低了系统的强非线性,并结合自适应算法进行线性化误差补偿。同时,针对跟踪精度不足等问题,引入积分滑模控制算法进行鲁棒控制器设计,并通过Lyapunov理论证明了液压马达伺服系统的闭环稳定性。仿真结果表明,所设计的控制器相比传统PID控制性能提升了40%,且具有较强的鲁棒性。

Aiming at the problem of precise control difficulty caused by strong nonlinearity of hydraulic motor servo control system,this paper proposes to design an adaptive robust integral sliding mode controller based on linearization and sliding mode control algorithm.Under the premise of not changing the system model,some nonlinear items in the system model are linearized by applying linearization to reduce the strong nonlinearity of the system,and the linearization error compensation is carried out with the adaptive algorithm.At the same time,aiming at the problem of insufficient tracking accuracy,an integral sliding mode control algorithm is introduced to design a robust controller,and the closed-loop stability of the hydraulic motor servo system is proved by Lyapunov theory.The simulation results show that the proposed controller improves the performance by 40%,compared with the traditional PID control and it has strong robustness.