引用本文:那靖,董宇,丁海港,等.含执行机构未知动态的液压伺服系统输出反馈控制[J].控制与决策,2020,35(5):1077-1084
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含执行机构未知动态的液压伺服系统输出反馈控制
那靖1, 董宇1, 丁海港2, 韩世昌1
(1. 昆明理工大学机电工程学院,昆明650500;2. 中国矿业大学机电工程学院,江苏徐州221116)
摘要:
针对含有未知动态(如:执行机构、负载等)液压伺服系统,提出一种基于未知系统动态估计器的输出反馈控制方法.该方法不依赖于函数逼近器和传统反步控制设计,且无需难以测量的系统内部状态.首先,为避免反步控制和系统全部状态,引入等价变换,将含液压执行机构的伺服系统高阶严格反馈模型转化为Brunovsky标准型,进而运用高阶滑模微分器观测转化后的系统未知状态.控制器设计中引入描述收敛速率、最大超调量和稳态误差的性能函数,保证预设控制系统稳态和瞬态控制性能.为补偿系统集总未知动态影响,设计一种仅含一个调节参数并保证指数收敛的未知系统动态估计器.该输出反馈控制器可以实现对系统输出的精确跟踪控制.最后,通过数值仿真结果表明了所提出算法的有效性.
关键词:  液压伺服系统  输出反馈控制  未知系统动态估计  非反步控制
DOI:10.13195/j.kzyjc.2019.1252
分类号:TP273
基金项目:国家自然科学基金项目(61922037,61873115).
Output feedback control for hydraulic servo systems with unknown actuator dynamics
NA Jing1,DONG Yu1,DING Hai-gang2,HAN Shi-chang1
(1. Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology, Kunming 650500,China;2. School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou221116,China)
Abstract:
This paper proposes an output feedback control method for hydraulic servo systems with unknown dynamics (e.g., actuator dynamics and load variations). This control is an approximation-free approach, and does not need unmeasurable system states. To avoid using tedious backstepping scheme, we introduce a coordinate transform to reformulate the high-order hydraulic servo system model in the strict-feedback form into a Brunovsky form. Then, the high-order sliding mode differentiator(HSMD) is used to reconstruct the unknown states of the derived Brunovsky model. Moreover, a prescribed performance function(PPF) characterizing the error convergence rate, maximum overshoot and steady-state error is utilized in the control design to guarantee both the transient and steady-state performance. To accommodate the lumped unknown dynamics, an unknown system dynamic estimator(USDE) with only one tuning parameter is developed, which retains exponential error convergence and thus helps to achieve precise position tracking control. Simulation results verify the effectiveness of the presented method.
Key words:  hydraulic servo system  output feedback control  unknown system dynamic estimator  backstepping free

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