基于李雅普诺夫理论的电液伺服系统非线性位置控制研究

电液伺服系统存在高度非线性及参数时变等问题,同时由于其多学科性质导致精确模型的建立比较困难.针对电液伺服系统非线性位置控制问题,采用基于非线性系统的李雅普诺夫理论的控制器实现电液伺服系统的有效控制,并对控制效果进行仿真验证.构造了伺服阀以及液压执行器的动力学方程,建立电液伺服系统简化数学模型.基于非线性系统的李雅普诺夫...

Study on Nonlinear Position Control of Electro hydraulic Servo System Based on Lyapunov Theory

Electro hydraulic servo systems have problems such as high nonlinearity and time varying parameters. At the same time, it is difficult to build accurate models due to their multi disciplinary nature. Aiming at the non linear position control of the electro hydraulic servo system, a controller based on the Lyapunov theory of the nonlinear system was used to achieve effective control of the electro hydraulic servo system, and the control effect was simulated and verified. The dynamic equations of the servo valve and the hydraulic actuator were constructed, and a simplified mathematical model of the electro hydraulic servo system was established. Based on Lyapunov theory of the nonlinear system, the controller of the electro hydraulic servo system was designed by using integral backstepping method. MATLAB software was used to simulate the electro hydraulic servo system, and the calculation results were compared and analyzed with the traditional PID controller. The simulation results show that by using the designed controller, the tracking performance of the electro hydraulic servo system for step and sinusoidal signals is better, the required control voltage is reduced by about 50%, and the tracking error is also greatly reduced.