机械与电子2025，Vol.43Issue(11)：61-67,7.
电液伺服机械手轨迹跟踪自适应模糊滑模抗扰控制
Adaptive Fuzzy Sliding Mode Disturbance Rejection Control for Trajectory Tracking of Electro-hydraulic Servo Manipulator
摘要
Abstract
In order to address the problem of high-frequency chattering near the sliding mode switc-hing surface caused by strong nonlinearity,time-varying parameters,and external interference in tradi-tional control methods for electro-hydraulic servo systems,an adaptive fuzzy sliding mode disturbance re-jection control method is proposed.By modeling and analyzing the electro-hydraulic servo manipulator,the complete servo valve transfer function with input current as input is derived,providing a mathematical basis for the dynamic characteristics of the system for subsequent high-precision control algorithm de-sign.Based on improving the double power approaching law,a sliding mode disturbance rejection controller is designed,which takes the transfer function of the servo valve as the input and improves the double power approaching law by optimizing the typical approaching law.The controller effectively suppresses the chat-tering phenomenon caused by external interference and improves the control smoothness;furthermore,by introducing fuzzy control into the sliding mode disturbance rejection control process,an adaptive fuzzy slid-ing mode disturbance rejection controller is designed.Fuzzy rules are used to dynamically adjust the input variables of the controller,achieving high-precision control of the trajectory tracking of the electro-hy-draulic servo manipulator.The experimental results show that the proposed method limits the trajectory tracking error within±0.05 mm and reduces the speed tracking error to±0.02 m/s,demonstrating its significant advantages in control stability and precision.关键词
电液伺服机械手/轨迹跟踪/模糊控制/模糊滑模抗扰控制器Key words
electro-hydraulic servo manipulator/trajectory tracking/fuzzy control/fuzzy sliding mode disturbance rejection controller分类
信息技术与安全科学引用本文复制引用
胡苏..电液伺服机械手轨迹跟踪自适应模糊滑模抗扰控制[J].机械与电子,2025,43(11):61-67,7.基金项目
通用技术集团机床工程研究院有限公司科技项目(2023ZY01059-002) （2023ZY01059-002）
