基于反馈线性化滑模控制的电液位置同步伺服系统研究

Reserch on Electro-hydraulic Position Synchronous Servo System Based on Feedback Linearization Sliding Mode Control

针对电液位置同步伺服系统中存在非线性摩擦、外部干扰力等扰动问题,设计一种基于输入-输出反馈线性化的滑模控制系统。建立阀控非对称缸电液位置伺服系统的非线性模型,采用反馈线性化理论对系统中的非线性因素进行线性化,结合滑模变结构控制方法为线性化后的系统模型设计控制器,利用Lyapunov函数证明了控制系统的稳定性。仿真研究表明:基于输入-输出反馈线性化滑模控制方法与交叉耦合策略相结合的复合控制方法相比于传统PID控制算法,能有效提高系统的位置跟踪精度与同步控制精度,并且响应时间更短,抗干扰能力更强,在持续扰动的作用下仍然具有良好的控制性能。

Aiming at the disturbance problems such as nonlinear friction and external interference forces in the electro-hydraulic position synchronous servo system,a sliding mode control system based on input-output feedback linearization is designed.A nonlinear model of the valve-controlled asymmetric cylinder electro-hydraulic aposition servo system is established.The feedback linearization theory is used to linearize the nonlinear factors in the system.Combined with the sliding mode variable structure control method,a controller is designed for the linearized system model.Lyapunov function is applied to prove the stability of the control system.The simulation studies show that compared with the traditional PID control algorithm,the composite control method based on the combination of input-output feedback linearization sliding mode control method and cross-coupling strategy can effectively improve the position tracking accuracy and synchronization control accuracy of the system with shorter response time,stronger anti-interference ability,and good control performance maintained under the action of continuous disturbance.