一种非线性自适应液压系统控制器设计与研究

Design and Research of a Nonlinear Adaptive Hydraulic System Controller

针对现有电液伺服系统的非线性、参数不确定导致轨迹跟踪精度低的问题,提出了一种非线性自适应输出反馈控制器。分析了液压系统的非线性模型,为控制器设计提供理论基础。非线性自适应输出反馈控制器包含自适应线性扩展状态观测器(Linear Extended State Observer, LESO)和非线性扰动观测器(Nonlinear Disturbance Observer, NDO),用来估计系统中不可策略状态以及惯性载荷动力学中的失配扰动。实验结果表明,所提出的非线性自适应输出反馈鲁棒控制器可有效解决PI控制器存在的谐振问题。

A nonlinear adaptive output feedback controller is proposed to address the problem of low trajectory tracking accuracy caused by the nonlinearity and parameter uncertainty of existing electro-hydraulic servo systems.Analyzed the nonlinear model of the hydraulic system,providing a theoretical basis for controller design.The nonlinear adaptive output feedback controller consists of an adaptive linear extended state observer(LESO)and a nonlinear disturbance observer(NDO),which are used to estimate the unsearchable states in the system and the mismatched disturbances in inertial load dynamics.Experimental results show that the proposed nonlinear adaptive output feedback robust controller can effectively solve the resonance problem of PI controller.