中南大学学报（自然科学版）2025，Vol.56Issue(12)：5060-5071,12.DOI:10.11817/j.issn.1672-7207.2025.12.011
基于分层扰动估计的电液位置伺服系统非奇异快速终端滑模控制
Non-singular fast terminal sliding mode control of electrohydraulic position servo systems based on hierarchical perturbation estimation
摘要
Abstract
Aiming at the compound problems such as disturbance uncertainty and non-matching interference in the operation of electro-hydraulic position servo system,a non-singular fast terminal sliding mode control strategy based on hierarchical disturbance estimation was proposed.Firstly,the electro-hydraulic position servo system was divided into mechanical subsystem and hydraulic subsystem,and then expanding state observers were designed to estimate the perturbations in each subsystem separately.Then the backstepping recursion method was utilized to compensate for the perturbations and derive the state virtual control rate.Next,the principle of non-singular fast terminal sliding mode control was utilized to establish the nonlinear sliding mode surface,while the double power convergence law was introduced to derive the final control rate,and the stability was proved according to Liapunov's theorem.Finally,the control effects were compared with those of PID,conventional sliding mode controller with estimated perturbation,and non-singular fast terminal sliding mode controller without estimated perturbation through MATLAB/Simulink-AMEsim simulation.The results show that the proposed method can significantly improve the dynamic accuracy and steady-state performance of the hydraulic cylinder displacement tracking by real-time estimating the multi-source perturbations in the operation of the valve-controlled cylinder system and dynamically compensating for the perturbation observations in the control law.关键词
电液位置伺服系统/非匹配干扰/非奇异快速终端滑模控制/扩张状态观测器/反步法Key words
electro-hydraulic position servo system/non-matching disturbance/non-singular fast terminal sliding mode control/extended state observer/backstepping method分类
信息技术与安全科学引用本文复制引用
李世航,汪成文,赵二辉..基于分层扰动估计的电液位置伺服系统非奇异快速终端滑模控制[J].中南大学学报（自然科学版）,2025,56(12):5060-5071,12.基金项目
国家自然科学基金资助项目(52475066) （52475066）
山西省回国留学人员科研教研资助项目(2024-052)(Project(52475066)supported by the National Natural Science Foundation of China （2024-052）
Project(2024-052)Supported by Scholarship Council of Shanxi Province) （2024-052）
