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由于电液系统中存在各种非线性因素以及不确定干扰,为提高电液位置伺服系统在干扰下的控制精度,以电液振动台为控制对象,建立非线性模型,利用干扰观测器对干扰力进行观测,并通过反步控制器进行削弱和补偿,利用李雅普诺夫理论保证闭环系统的全局稳定。对设计的控制器进行仿真和实验,模拟在有外界未知干扰力下的位置控制,实现对干扰的抑制。实验表明:该控制策略能够很好的提高电液位置伺服系统的跟踪性能。
Due to various non-linear factors and uncertainties in the electro-hydraulic system, in order to improve the control accuracy of the electro-hydraulic servo system under the disturbance, a nonlinear model is established by using the electro-hydraulic vibration table. The disturbance observer The force is observed and weakened and compensated by the backstepping controller. The Lyapunov theory is used to ensure the global stability of the closed-loop system. The controller of the design is simulated and experimented to simulate the position control under the unknown external disturbances to suppress the interference. Experiments show that this control strategy can greatly improve the tracking performance of electro-hydraulic position servo system.