中国机械工程2016，Vol.27Issue(8)：995-1000,6.DOI:10.3969/j.issn.1004-132X.2016.08.001
含磁滞补偿的电液伺服系统预设性能跟踪控制
Prescribed Performance Tracking Control of Electro hydraulic Servo Systems with Hysteresis Compensation
摘要
Abstract
For the common parametric uncertainties and uncertain nonlinearities(hysteresis,nonG linear friction,external disturbances,et al)existing in electro�hydraulic servo systems,a novel methG od was proposed,which was based on adaptive robust control,and named prescribed performance tracking control with hysteresis compensation.First,taking valve controller single�rod hydraulic cylG inder position servo system for instance,a mathematic model consisting of hysteresis nonlinearity was constructed.And then,a prescribed performance function was utilized to characterize the convergence rate,maximum over�shoot,and steady�state errors.At last,an adaptive robust controller was design based on the planned tracking errors to guarantee the excellent steady�state performance and transient performance.Extensive simulations show that the proposed controller can attenuate the hysteresis effects on the tracking accuracy,improve the convergence rate,reduce the over�shoot,and eventually achieve an excellent tracking.关键词
电液伺服系统/磁滞/预设性能控制/建模不确定性/自适应鲁棒控制Key words
electro-hydraulic servo system/hysteresis/prescribed performance control/modeling uncertainty/adaptive robust control分类
信息技术与安全科学引用本文复制引用
董振乐,马大为,姚建勇,王晓锋..含磁滞补偿的电液伺服系统预设性能跟踪控制[J].中国机械工程,2016,27(8):995-1000,6.基金项目
国家自然科学基金资助项目(51305203) （51305203）
江苏省自然科学基金资助项目(BK20141402) （BK20141402）
