| 摘 要: 针对液压控制系统中存在的强非线性、参数不确定性和高频干扰等问题，提出一种基于指令滤波和期望补偿的鲁棒控制算法。该控制算法结合扩展状态观测器(ESO)，实现了对速度及外干扰的估计；所设计的自适应控制算法可以在线估计系统的不确定参数；利用期望补偿方法，将实际速度信号替换为相应的期望值，以减少对控制效果的影响。此外，利用指令滤波技术避免了反步控制法里的微分膨胀问题，基于Lyapunov函数证明了所设计控制器的稳定性，且所有信号均有界。仿真结果表明，系统期望跟踪指令幅值为40 mm时，在1 Hz和0.5 Hz工况下，平均跟踪误差分别约为0.088 mm和0.0481 mm，可见跟踪误差收敛到了极小值，系统跟踪精度得到了提高。 |
| 关键词: 液压控制系统；指令滤波；期望补偿；扩展状态观测器；位置跟踪控制 |
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中图分类号: TP273
文献标识码: A
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| Research on Control of Hydraulic Position Tracking System based on Command Filtering and Expectation Compensation |
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YUAN Xiaokang
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(School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)
193711548@st.usst.edu.cn
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| Abstract: Aiming at the problems of strong nonlinearity, parameter uncertainty and high-frequency interference in hydraulic control systems, this paper proposes a robust control algorithm based on command filtering and expectation compensation. The control algorithm combines Extended State Observer (ESO) to realize the estimation of speed and external disturbance. The designed adaptive control algorithm can estimate the uncertain parameters of the system online. With the expectation compensation method, the actual speed signal is replaced by the corresponding expected value to reduce the impact on the control effect. In addition, command filtering technique is used to avoid the differential expansion problem in the backstepping control method. The stability of the designed controller is proved based on Lyapunov function and all signals are bounded. The simulation results show that when the expected tracking command amplitude of the system is 40 mm, the average tracking error is about 0.088 mm and 0.0481 mm under the conditions of 1 Hz and 0.5 Hz, respectively. It can be seen that the tracking error has converged to a minimum value, and the system tracking accuracy has been improved. |
| Keywords: hydraulic control system; command filtering; expectation compensation; extended state observer; position tracking control |
