基于积分鲁棒的电液负载模拟器渐近跟踪控制

doi:10.7527/S1000-6893.2016.0152

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基于积分鲁棒的电液负载模拟器渐近跟踪控制

岳欣, 姚建勇

南京理工大学机械工程学院, 南京 210094

收稿日期:2016-03-28 修回日期:2016-05-16 出版日期:2017-02-15 发布日期:2016-05-30
通讯作者: 姚建勇,E-mail:jerryyao.buaa@gmail.com E-mail:jerryyao.buaa@gmail.com
基金资助:
国家自然科学基金（51305203）；中国博士后科学基金（2015T80553）；江苏省博士后科研资助计划（1302002A）

Integral robust based asymptotic tracking control of electro-hydraulic load simulator

YUE Xin, YAO Jianyong

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

Received:2016-03-28 Revised:2016-05-16 Online:2017-02-15 Published:2016-05-30
Supported by:
National Natural Science Foundation of China (51305203); China Postdoctoral Science Foundation (2015T80553); Jiangsu Planned Projects for Postdoctora l Research Funds (1302002A)

摘要/Abstract

摘要：

电液负载模拟器（EHLS）是典型的电液力矩伺服系统，存在大量非线性特性和模型不确定性（特别是非线性摩擦），随着对电液力矩伺服系统跟踪性能的要求越来越高，传统线性控制策略很难满足加载系统的高性能需求，迫切需要设计先进的非线性控制策略。针对以上问题，建立了包含连续可微摩擦模型的系统非线性数学模型，基于Lyapunov理论设计了一种误差符号积分鲁棒控制方法。该方法能够克服模型不确定性对系统的影响，在舵机运动干扰作用下实现了系统的渐近稳定性能。实验对比结果验证了该控制方法的优良性能。

关键词: 电液负载模拟器(EHLS), 连续可微摩擦模型, 鲁棒控制, 非线性控制, 模型不确定性, Lyapunov函数

Abstract:

Electro-hydraulic load simulator (EHLS) is a typical electro-hydraulic force system, in which various nonlinear properties and modeling uncertainties (especially nonlinear frictions) exist. With the higher demand for the tracking performance of electro-hydraulic force system, it is difficult for the traditional linear control strategy to meet the high-performance demand of loading system, and thus the advanced nonlinear control strategy is required urgently. To overcome the above problems, a nonlinear mathematic model, synthesized with a continuous differentiable friction model, is established. Meanwhile, a new control method, named as a robust integral of the sign of the error, is also designed based on Lyapunov stability theory. The control strategy proposed can eliminate the influence of the uncertainties of the model and guarantee asymptotic output tracking performance under the motion disturbance of aircraft actuator. Comparative experimental results are obtained to verify the high-performance of the proposed control strategy.

Key words: electro-hydraulic load simulator (EHLS), continuous differentiable friction model, robust control, nonlinear control, modeling uncertainties, Lyapunov functions

中图分类号:

V242

岳欣, 姚建勇. 基于积分鲁棒的电液负载模拟器渐近跟踪控制[J]. 航空学报, 2017, 38(2): 420269-420278.

YUE Xin, YAO Jianyong. Integral robust based asymptotic tracking control of electro-hydraulic load simulator[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(2): 420269-420278.

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E-mail：hkxb@buaa.edu.cn

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基于积分鲁棒的电液负载模拟器渐近跟踪控制

Integral robust based asymptotic tracking control of electro-hydraulic load simulator

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