| 阀控缸系统有限时间滑模控制 |
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| 引用本文： | 许玲玲,延皓.阀控缸系统有限时间滑模控制[J].液压与气动,2019,0(6):94-100. |
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| 作者姓名： | 许玲玲 延皓 |
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| 作者单位： | 北京交通大学机械与电子控制工程学院， 北京100044 |
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| 摘 要： | 针对阀控缸系统稳态跟踪误差的收敛时间均为非有限时间内收敛到0的问题,提出了一种终端滑模控制方法。解决了液压系统非有限时间收敛问题,使得跟踪误差在有限时间内收敛到0。首先,运用终端滑模控制方法通过构造终端函数方式引入非线性项,设计终端滑模面来保证系统的全局鲁棒性和稳定性;其次,基于Lyapunov稳定性理论设计终端滑模控制器,保证位置跟踪误差在有限时间内收敛到0并验证其稳定性;最后,利用阀控缸系统模型以正弦信号及其衍生信号为参考信号对控制策略进行Simulink仿真,表明了终端滑模控制方法的可行性与有效性。
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| 关 键 词： | 阀控缸系统 终端滑模 有限时间控制 |
| 收稿时间： | 2018-10-15 |
Finite-time Sliding Mode Control of the Valve-controlled Hydraulic System |
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| XU Ling-ling,YAN Hao.Finite-time Sliding Mode Control of the Valve-controlled Hydraulic System[J].Chinese Hydraulics & Pneumatics,2019,0(6):94-100. |
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| Authors: | XU Ling-ling YAN Hao |
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| Affiliation: | Beijing Jiaotong University, School of Mechanical, Electronic and Control Engineering, Beijing100044 |
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| Abstract: | In the paper, a terminal sliding mode control method is presented for the system controlled by valve. Previous control methods of valve-controlled systems always assume that the convergence time is infinite. The control method proposed in this paper solves the problem and makes the tracking error converge to zero within finite time. The main feature of this method is that the terminal function is designed. Firstly, the nonlinear items are introduced through the terminal function to design the terminal sliding surface. Secondly, based on the Lyapunov stability theory, the terminal sliding mode controller is constructed, which can realize finite-time convergence and especially for the position tracking. Finally, the proposed control strategy is simulated using a valve-controlled systems model for the sine functions and cosine functions of the command input. The results of simulation show that the terminal sliding mode control method is feasible and effective for valve-controlled systems. |
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| Keywords: | valve-controlled system terminal sliding mode finite-time control |
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