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阀控电液位置伺服系统非线性鲁棒控制方法

DOI: 10.13700/j.bh.1001-5965.2013.0752, PP. 1736-1740

Keywords: 非线性控制,电液位置伺服系统,参数不确定性,流量非线性,鲁棒控制

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Abstract:

为了解决电液伺服跟踪控制中存在流量非线性以及参数不确定问题,以阀控液压马达为对象设计了一种非线性鲁棒控制器.该算法基于Back-Stepping的设计思想,将阀控电液系统的位置跟踪问题转化为系统负载流量规划问题,仅需一步反步递推,即可完成控制器设计,具有较强的工程实用性.该算法综合考虑了制约电液位置系统跟踪精度的流量非线性以及系统参数不确定性问题.理论证明了该算法的稳定性.通过和传统PID(Proportional-Integral-Derivative)控制器的对比试验表明,基于该控制器,系统跟踪性能得到了显著提升.

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