X滤波自适应逆控制算法及在液压位置控制系统中的应用

针对非线性时变特性的液压位置伺服系统跟踪控制问题,基于自适应逆控制理论,提出X滤波液压位置自适应逆控制策略.对传统自适应滤波算法在X滤波结构下的不足,提出变换域变步长归一化最小方差算法.采用该算法对液压伺服位置系统进行了对象建模、在线逆建模及开环控制系统设计.仿真结果表明,X滤波液压位置自适应逆控制具有跟踪速度快、对参数摄动鲁棒性强等良好动态特性.

Filtered-X adaptive inverse control method and its application in hydraulic position servo system

Aiming at the tracking control problem of hydraulic position servo systems with nonlinear time-varying feature, a design method of filtered-X hydraulic position adaptive inverse control was presented based on adaptive inverse control. A transform domain variable step-size normalized least mean square (NLMS) algorithm was provided to overcome the shortage of traditional adaptive filter algorithms for filtered-X structure. The algorithm was used to in plant modeling, inverse plant modeling and controller design for a hydraulic position adaptive system. Simulation result shows filtered-X hydraulic position adaptive inverse control has the good performances of speediness tracking and strong robust.