对于电动静液作动器(Electro-Hydrostatic Actuator,EHA),传统扰动主动补偿控制方法(Active Disturbance Compensation Control Method,ADCM)存在扩张状态观测器(Extended State Obsever,ESO)对噪声敏感、控制器设计需要作动加速度信息...对于电动静液作动器(Electro-Hydrostatic Actuator,EHA),传统扰动主动补偿控制方法(Active Disturbance Compensation Control Method,ADCM)存在扩张状态观测器(Extended State Obsever,ESO)对噪声敏感、控制器设计需要作动加速度信息的问题。针对以上问题,首先利用奇异摄动理论对EHA数学模型进行合理降阶,然后设计了一种基于滤波估计器(Filter Estimator,FE)的串级扰动估计器。此外,在控制器中加入阻尼自适应函数,设计了阻尼自适应扰动主动补偿控制器(FE-AD-ADCM),从而提高了系统的位置跟踪性能。最后,利用MATLAB/Simulink和Simcenter/AMESim联合仿真平台将该方法分别与传统PI和ADCM控制器进行了详细的仿真对比分析。仿真结果表明,提出的FE-AD-ADCM能有效提升EHA位置跟踪性能和对扰动的估计精度。展开更多
The development of control techniques to mitigate the effects of unknown hysteresis preceding with plants has recently re-attracted significant attention. In this paper, we first give a brief review of presently devel...The development of control techniques to mitigate the effects of unknown hysteresis preceding with plants has recently re-attracted significant attention. In this paper, we first give a brief review of presently developed hysteresis models and hysteresis compensating control methods.Then, with the use of the Prandtl-Ishlinskii hysteresis model, we propose a robust adaptive control scheme. The novelty is that the model of hysteresis nonlinearities is firstly fused with the available control techniques without necessarily constructing a hysteresis inverse. The global stability of the adaptive system and tracking a desired trajectory to a certain precision are achieved. Simulations performed on a nonlinear system illustrate and clarify the approach.展开更多
文摘对于电动静液作动器(Electro-Hydrostatic Actuator,EHA),传统扰动主动补偿控制方法(Active Disturbance Compensation Control Method,ADCM)存在扩张状态观测器(Extended State Obsever,ESO)对噪声敏感、控制器设计需要作动加速度信息的问题。针对以上问题,首先利用奇异摄动理论对EHA数学模型进行合理降阶,然后设计了一种基于滤波估计器(Filter Estimator,FE)的串级扰动估计器。此外,在控制器中加入阻尼自适应函数,设计了阻尼自适应扰动主动补偿控制器(FE-AD-ADCM),从而提高了系统的位置跟踪性能。最后,利用MATLAB/Simulink和Simcenter/AMESim联合仿真平台将该方法分别与传统PI和ADCM控制器进行了详细的仿真对比分析。仿真结果表明,提出的FE-AD-ADCM能有效提升EHA位置跟踪性能和对扰动的估计精度。
基金Supported by the Concordia University under Research Chair Grant
文摘The development of control techniques to mitigate the effects of unknown hysteresis preceding with plants has recently re-attracted significant attention. In this paper, we first give a brief review of presently developed hysteresis models and hysteresis compensating control methods.Then, with the use of the Prandtl-Ishlinskii hysteresis model, we propose a robust adaptive control scheme. The novelty is that the model of hysteresis nonlinearities is firstly fused with the available control techniques without necessarily constructing a hysteresis inverse. The global stability of the adaptive system and tracking a desired trajectory to a certain precision are achieved. Simulations performed on a nonlinear system illustrate and clarify the approach.
