液压与气动Issue(6)：8-13,6.DOI:10.11832/j.issn.1000-4858.2018.06.002
基于干扰观测器的电液伺服系统反馈线性化滑模控制
Feedback Linearization Sliding Mode Control Based on Disturbance Observer for Electro-hydraulic Servo System
摘要
Abstract
In order to reduce the influence of various nonlinear factors and uncertain disturbances in electro-hydraulic servo system,a control strategy based on input-output feedback linearization combining sliding mode control with a nonlinear disturbance observer is proposed to improve tracking accuracy of system's position control.An electrohydraulic shaking table is employed to verify the effectiveness of the designed controller.A nonlinear model is established and the global stability of position closed-loop system is ensured by the Lyapunov theory.The designed controller is simulated by MATLAB/Simulink,and the result of simulation verifies the feasibility of the proposed controller.An electro-hydraulic loading system is added to an electro-hydraulic position system to simulate the uncertain force interference in an actual environment,and an experimental research is carried out.These experimental results show that the proposed controller can effectively improve position tracking performances of electro-hydraulic servo system under disturbance.关键词
电液伺服系统/反馈线性化/滑模控制/非线性干扰观测器Key words
electro-hydraulic servo system/feedback linearization/sliding mode control/nonlinear disturbance observer分类
机械制造引用本文复制引用
王鑫刚,芮光超,丁兴亚,沈刚..基于干扰观测器的电液伺服系统反馈线性化滑模控制[J].液压与气动,2018,(6):8-13,6.基金项目
国家自然科学基金(51575511) （51575511）
