摘要
针对液压伺服系统中存在参数未知且不易获得的问题,设计了一种自适应反步控制算法。首先定义李雅普诺夫函数,然后逐步递推设计反步控制器;基于李雅普诺夫稳定性理论,设计了参数自适应律。最后通过MATLAB软件,对所设计的自适应反步控制器进行仿真分析,作为对比,设计了常规反步控制器和PID控制器。通过对不同控制器的仿真结果进行对比分析可得出,所设计的自适应反步控制器具有良好的跟踪性能和参数估计的能力。
Aiming at the problem that the parameters are unknown and not easy to obtain in the hydraulic servo system,an adaptive backstep control method is proposed.First,the Lyapunov function is defined,and then the backstepping controller is designed step by step recursively.Based on Lyapunov stability method,the parameter adaptive law is designed.Finally,through MATLAB software,the designed adaptive backstepping controller is simulated and analyzed.For comparison,a conventional backstepping controller and a PID controller are designed.By comparing and analyzing the simulation results of different controllers,it can be concluded that the adaptive backstepping controller designed in this paper has good tracking performance and parameter estimation ability.
作者
王克磊
梁全
WANG Kelei;LIANG Quan(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《机械工程师》
2024年第5期45-48,共4页
Mechanical Engineer
