电液马达伺服系统积分鲁棒自适应高精度位置控制

摘要

电液马达伺服系统中存在各种类型的扰动,包括参数不确定性和不确定非线性,制约着其高精度位置控制.针对电液马达伺服系统高精度位置跟踪控制,考虑系统的黏性摩擦特性以及外干扰等建模不确定性,提出了一种基于鲁棒自适应的电液马达伺服系统高精度位置控制策略.所提出的全状态控制器通过自适应对模型不确定性进行估计及前馈补偿,提高了系统的低速伺服性能;通过自适应对未建模干扰等不确定性的上界进行估计并前馈补偿,提高了系统对外干扰的鲁棒性.所设计的闭环控制器还能保证系统获得渐近跟踪性能,对比仿真验证了其可行性.%Various types of disturbance such as parametric uncertainty and uncertain nonlinearities existing in electrohydraulic motor servo systems restrict system's high accuracy position control.For high-accuracy position tracking control of electro-hydraulic motor servo systems,we take viscous friction characteristic and modeling uncertainties including external disturbance of the system into account.We put forward a high precision position control strategy based on robust adaptive for motion control of considered electro-hydraulic motor servo systems.Based on the adaptive control,the proposed full state controller helps feedforward compensate model uncertainty and further improves their low-speed servo performance.By utilizing the adaptive control to estimate the upper bound of unmodeling disturbance including external disturbance and feedforward compensating it,we can improve the robustness of the considered system to external disturbance.At the same time,the designed dosed-loop controller also ensures the asymptotic tracking performance of the system.The feasibility of the designed controller is demonstrated through compared simulation results.