基于严格反馈模型的电液伺服作动器控制策略研究

Research on Control Strategy of Electro-hydraulic Servo Actuators Based on Strict Feedback Model

主动悬架可根据车辆实时状态调节悬架参数,显著提高应急救援车辆救援效率,电液伺服作动器是电液伺服主动悬架系统实施主动控制的核心部件。对电液伺服作动器控制策略展开了研究,建立了主动悬架液压伺服作动器模型;基于该模型提出了基于严格反馈模型的自适应位置跟踪控制策略,并证明了该策略在Lyapunov意义下的稳定性。仿真和单缸实验验证表明,与传统控制方法相比,所提出的位置跟踪算法可有效提高电液伺服作动器的位置跟踪性能。

The active suspension might adjust the suspension parameters according to the real-time status of the vehicles,which greatly improved the rescue efficiency of emergency rescue vehicles.Electro-hydraulic servo actuator was the core component of active control of electro-hydraulic servo active suspension system,the control strategy of electro-hydraulic servo actuator was studied.The active suspension hydraulic servo actuator model was established.Then,based on the model,an adaptive position tracking control strategy was proposed based on a strict feedback model,and the stability of the proposed strategy in the Lyapunov sense was proved.The simulation and single-cylinder experiments show that the position tracking algorithm proposed may effectively improve the position tracking performance of electro-hydraulic servo actuators compared with the traditional control methods.