复合材料成形液压机自适应鲁棒运动控制

针对复合材料液压机电液系统中广泛存在的参数不确定性、不确定非线性和外干扰，设计基于非连续映射的非线性自适应鲁棒运动控制器. 自适应控制器对系统参数进行在线估计，所估计的参数虽不能完全收敛到真实值，但可以限定在上确界和下确界范围内，满足鲁棒控制不确定量上、下界的要求；参数自适应律渐进消除了参数不确定性引起的模型补偿误差，保证输出跟踪可以拥有规定的瞬态和稳态响应性能. 鲁棒控制律可以抑制未建模动态、参数估计误差和外干扰的影响. 利用Lyapunov稳定性理论证明了系统的稳定性. 仿真和实验结果表明，设计的控制器对所规划的运动轨迹具有精确的跟踪控制和强鲁棒的控制性能.
Abstract: A discontinuous projection-based nonlinear adaptive robust motion controller was constructed in order to deal with the parametric uncertainties, uncertain nonlinearity and external disturbance existed in the electro-hydraulic system of a composite material hydraulic press. The adaptive controller estimated system parameters online. Although the estimated parameters cannot completely converge to their true values, they can be kept within the upper and lower bounds, which meets the requirements of robust control. The model compensation error caused by the parametric uncertainties can be gradually eliminated by the adaptive law. The guaranteed transient and steady state response performance of output tracking was achieved. The effects of unmodeled dynamics, parameter estimation errors, and external disturbances were suppressed by the robust control law. The stability of the electro-hydraulic control system was proved based on the Lyapunov theory. Both simulation and experimental results show that the proposed controller provides a high-accuracy tracking and robust performance for the desired trajectory.