改进PSO算法优化的电液位置伺服系统滑模控制

Sliding Mode Control of Electro-hydraulic Position Servo System Optimized by Improved PSO Algorithm

针对电液位置伺服系统因参数不确定性、复杂时变性与非线性而导致控制性能不佳的问题,提出了一种基于改进PSO算法的电液位置伺服系统滑模控制方法。建立电液位置伺服系统的误差状态空间方程,通过设计滑模面和控制律推导出滑模控制器结构,利用李雅普诺夫函数验证了控制器的稳定性,采用柯西变异和自适应速度更新策略改进了PSO算法,并把改进后的PSO算法应用至滑模控制器中进行参数优化,基于AMEsim/MATLAB联合仿真研究了几种方法下系统对位置的跟踪情况。结果表明,相比于PSO算法和APSO算法,改进PSO算法寻优性能更好,从而验证了该方法是有效的;通过对比分析,采用改进PSO算法的滑模控制器极大地提高了系统的控制性能,在抑制抖振的同时实现了系统对状态轨迹的快速精确跟踪。通过现场试验研究,验证了所提方法的应用可行性。

In view of the problem that the control performance of electro-hydraulic position servo system is poor due to parameter uncertainty,complex time variability and nonlinearity.A sliding mode control method for electro-hydraulic position servo system based on improved particle swarm optimization(PSO)algorithm is proposed.The error state space equation of electro-hydraulic position servo system is established.The sliding mode controller structure is deduced by designing sliding mode surface and control rule.The stability of the controller is verified by Lyapunov function.The PSO algorithm is improved by using Cauchy mutation and adaptive speed update strategy,and the improved PSO algorithm is applied to the parameter optimization of sliding mode controller.Based on AMEsim/MATLAB co-simulation,the position tracking performance of the system for several methods is studied.The results show that the performance of the improved PSO algorithm is better than that of the PSO algorithm and the APSO algorithm,which proves that the improved method is effective.Through the comparison and analysis,the sliding mode controller with improved PSO algorithm is better,which greatly improves the control performance of the system and realizes the fast and accurate tracking of the state trajectory while damping the vibration.The feasibility of the proposed method is verified by experimental results.