输入有界的电液位置伺服系统的自适应控制

doi:10.16182/j.issn1004731x.joss.201703028

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (3): 676-682.doi: 10.16182/j.issn1004731x.joss.201703028

输入有界的电液位置伺服系统的自适应控制

石建飞, 衣淑娟

黑龙江八一农垦大学信息技术学院,黑龙江大庆 163319

收稿日期:2016-04-01 修回日期:2016-06-26 出版日期:2017-03-08 发布日期:2020-06-02
作者简介:石建飞(1975-),男,黑龙江大庆,博士生,讲师,研究方向为新能源新技术和智能控制。
基金资助:
国家科技支撑计划(2014BAD06B01), 黑龙江八一农垦大学校内培育课题资助计划(XZR2014-13)

Adaptive Control for Hydraulic Servo Position System with Bounded Input

Shi Jianfei, Yi Shujuan

College of Information Technology, Heilongjiang Bayi Agricultural University, Daqing 163319, China

Received:2016-04-01 Revised:2016-06-26 Online:2017-03-08 Published:2020-06-02

摘要/Abstract

摘要： 综合考虑参数不确定性、外部干扰和输入饱和非线性对电液位置伺服系统控制性能的影响,提出一种基于人工神经网络的自适应状态反馈轨迹跟踪控制算法。该控制算法引入人工神经网络对系统输入饱和非线性进行在线拟合,设计基于有界双曲正切函数的状态反馈控制器,实现电液位置伺服系统的高精度轨迹跟踪。该方法不需要对系统非线性部分进行线性化,而且对线性部分的控制和参数的在线估计不相关,因此控制器具有较强的鲁棒性和工程实用性。通过构造合适的Lyapunov函数,证明了闭环系统具有全局渐近稳定性,仿真结果验证了所设计控制器的可行性和有效性。

关键词: 电液位置伺服系统, 自适应状态反馈控制, 饱和特性, 神经网络拟合

Abstract: An adaptive state feedback controller based on neural network fitting was proposed for hydraulic servo position systems containing parameter uncertainties, external disturbance and bounded input problem. Taking the saturation characteristic into account sufficiently, the adaptive state feedback trajectory tracking controller was designed with an adaptive law to real-timely adjust the disturbance parameters and the bounded hyperbolic tangent functions to promise the bounded of the control law. Moreover, the complete stability and performance analysis were presented using Lyapunov theory. Simulation results show the effectiveness of the designed controller for the trajectory tracking in the present of actuators saturation.

Key words: hydraulic servo position system, adaptive state feedback control, bounded input, neural network

中图分类号:

TP273

石建飞, 衣淑娟. 输入有界的电液位置伺服系统的自适应控制[J]. 系统仿真学报, 2017, 29(3): 676-682.

Shi Jianfei, Yi Shujuan. Adaptive Control for Hydraulic Servo Position System with Bounded Input[J]. Journal of System Simulation, 2017, 29(3): 676-682.

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输入有界的电液位置伺服系统的自适应控制

Adaptive Control for Hydraulic Servo Position System with Bounded Input

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