电液位置伺服系统的模糊整定滑模控制

1998 Second International Conference. Knowledge-Based Intelligent Electronic Systems. Proceedings KES'98 (Cat. No.98EX111) Pub Date : 1998-04-21 DOI:10.1109/KES.1998.725838

Q. Ha, H. Q. Nguyen, D. Rye, H. Durrant-Whyte

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引用次数: 9

摘要

针对一类非线性系统，提出了一种新颖的鲁棒滑模控制器。控制信号由三个部分组成:等效控制，用于给闭环系统分配所需的动力学;切换控制，用于保证滑模;模糊控制，用于增强快速跟踪和衰减抖振。当满足匹配条件时，得到渐近跟踪的充分条件。将该控制方法应用于电液伺服系统的位置控制。为了验证该控制器的潜力和有效性，仿真结果表明该控制器对大范围参数变化、负载扰动和非线性弹簧刚度具有较强的鲁棒性。

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Sliding mode control with fuzzy tuning for an electrohydraulic position servo system

This paper presents a novel robust sliding mode controller for a class of nonlinear systems. The control signal consists of: an equivalent control to assign the desired dynamics to the closed-loop system, a switching control to guarantee a sliding mode, and a fuzzy control to enhance fast tracking and to attenuate chattering. Sufficient conditions for asymptotic tracking are achieved when matching conditions are satisfied. The control method is applied to the position control of an electrohydraulic servo system. To verify the potential and effectiveness of the proposed controller, simulation results are given to demonstrate its strong robustness against a large range of parameter variations, load disturbance and nonlinear spring stiffness.

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来源期刊

1998 Second International Conference. Knowledge-Based Intelligent Electronic Systems. Proceedings KES'98 (Cat. No.98EX111)

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