| 具有状态约束的电液伺服系统模型参考鲁棒自适应控制 |
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| 引用本文： | 顾伟伟,姚建勇,马大为.具有状态约束的电液伺服系统模型参考鲁棒自适应控制[J].液压与气动,2018,0(3):10-15. |
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| 作者姓名： | 顾伟伟 姚建勇 马大为 |
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| 作者单位： | 南京理工大学机械工程学院, 江苏南京 210094 |
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| 基金项目： | 国家自然科学基金(51675279) |
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| 摘 要： | 针对电液伺服系统中的模型不确定性和状态约束问题,设计了一种模型参考鲁棒自适应控制(MRRAC)方法。将电液伺服系统的近似模型作为模型预测控制(MPC)的设计对象,在设计过程中考虑状态约束,并生成受约束的状态期望,作为后续伺服控制方法的参考指令。为了克服液压系统中的模型不确定性,基于反步法设计了鲁棒自适应控制器(RAC),实现了兼顾模型不确定性和状态约束的伺服控制。基于Lyapunov稳定性理论证明了所设计控制策略的闭环渐近稳定性,且系统所有信号均有界。仿真结果表明,控制器对于系统模型不确定性具有较强的鲁棒性,且可实现对指定状态的有效约束,充分验证了该控制策略的有效性。
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| 关 键 词： | 状态约束 模型预测控制 鲁棒自适应控制 电液伺服系统 |
| 收稿时间： | 2018-01-10 |
Model Reference Robust Adaptive Control for Electro-hydraulic Servo System with State Constraints |
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| GU Wei-wei,YAO Jian-yong,MA Da-wei.Model Reference Robust Adaptive Control for Electro-hydraulic Servo System with State Constraints[J].Chinese Hydraulics & Pneumatics,2018,0(3):10-15. |
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| Authors: | GU Wei-wei YAO Jian-yong MA Da-wei |
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| Affiliation: | School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094 |
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| Abstract: | A model reference robust adaptive control method is proposed for electro-hydraulic servo system with the consideration of model uncertainty and state constraints. The approximation model of electro-hydraulic servo system is first taken as the design object of model predictive controller (MPC). The constrained desired states, which are thought as the reference signals of the subsequent servo control design, will be generated in the design of MPC. In order to overcome various model uncertainties in the hydraulic system, a robust adaptive controller (RAC) is designed based on the backstepping method, and it achieves state constrained control of hydraulic systems with various model uncertainties. The asymptotic stability of closed-loop system is proved via the Lyapunov stability theory. The simulation results show that the proposed controller has strong robustness against various model uncertainties and achieves specific constraints of the specified states effectively, which verifies the effectiveness of the proposed control strategy. |
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| Keywords: | state constraints model predictive control robust adaptive control electro-hydraulic servo system |
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