含不确定扰动电液系统的无源自适应鲁棒超扭非线性控制

IF 0.6 4区 工程技术 Q4 MECHANICS Mechanika Pub Date : 2023-02-06 DOI:10.5755/j02.mech.32405
Haohao Du, Chenghu Jing, Bingsheng Yan, Chun‐Bin Liu
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引用次数: 0

摘要

针对具有扰动和不确定性的新型电液加载系统,提出了一种基于被动的自适应鲁棒超扭非线性控制器(PBARSNC)。利用无源性理论构造了该电液控制系统的稳定性,从而得到了基于无源性的控制器(PBC)。在无源控制器中,考虑参数的不确定性和恒变或慢变扰动,采用自适应律。此外,采用超扭转二阶滑模控制来抑制建模不确定性和匹配干扰。通过递归设计方法综合了无源理论、自适应方法和超扭转算法。所提出的基于无源的自适应鲁棒超扭非线性控制能够在存在各种不确定性的情况下保证系统的转矩跟踪性能,这对液压伺服系统的高精度跟踪控制具有重要意义。通过大量仿真验证了所提控制策略的高精度跟踪性能。
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Passivity-based adaptive robust super-twisting nonlinear control for electro-hydraulic system with uncertainties and disturbances
In this paper, a passive-based adaptive robust super-twisting nonlinear controller (PBARSNC) is proposed for high accuracy torque tracking control of the novel electro-hydraulic loading system with disturbances and uncertainties. The construction of the stability of this electro-hydraulic control system is given using passivity theory that results in a passivity-based controller (PBC). Considering parameter uncertainties and constant or slowly varying disturbances, adaptive law is adopted in the passivity-based controller. Furthermore, super-twisting second-order sliding mode control is used to reject modeling uncertainties and matched disturbances. Passivity theory, adaptive method and super-twisting algorithm are synthesized via the recursive design method.  The proposed passive-based adaptive robust super-twisting nonlinear control can guarantee the torque tracking performance in the presence of various uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems. Extensive simulations are carried out to verify the high-accuracy tracking performance of the proposed control strategy.
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来源期刊
Mechanika
Mechanika 物理-力学
CiteScore
1.30
自引率
0.00%
发文量
50
审稿时长
3 months
期刊介绍: The journal is publishing scientific papers dealing with the following problems: Mechanics of Solid Bodies; Mechanics of Fluids and Gases; Dynamics of Mechanical Systems; Design and Optimization of Mechanical Systems; Mechanical Technologies.
期刊最新文献
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