基于非线性参数的电液伺服系统滑模控制

针对在电液伺服系统跟踪控制中存在非线性不确定参数和外界扰动的问题，提出了一种基于积分微分器的滑模Lyapunov函数的控制方法。首先，在只有位移信号测量输出的情况下，采用高阶积分链式微分器对其速度和加速度信息进行预估。系统存在非线性不确定参数，利用微分器对状态和不确定项的实时估计，设计出积分滑模控制器，实现自适应规律以及对电液伺服系统中不确定扰动的抑制。搭建电液伺服系统AMESim模型并与Matlab构成联合仿真平台，对控制器进行仿真。仿真表明，该控制器具有良好的对非线性不确定参数变化的补偿能力和跟踪性能。

Electro-Hydraulic Servo System Based on Nonlinear Parameter Synovial Control

In order to solve the problems of nonlinear uncertain parameters and external disturbance in tracking control of electro-hydraulic servo system,a control method of sliding mode Lyapunov function based on integral differentiator is proposed.In the case of only measurement displacement signal output,the velocity and acceleration information are estimated by using high-order integral chain differentiator.The system has nonlinear uncertain parameters,by using the differentiator to real-time estimate the state and uncertainties,the integral sliding mode controller is designed to implement adaptive law and the suppression of the disturbance of uncertainty in electro-hydraulic servo system.An electro-hydraulic servo system AMESim and Matlab joint simulation platform was built to simulate the controller.Simulation shows that the controller has good ability of compensation for nonlinear uncertain parameters change and tracking performance.