作　　者： ; ;

机构地区： 湖南大学

出　　处： 《中国机械工程》 2009年第11期1285-1289,共5页

摘　　要： 提出一种用于电液伺服系统位置跟踪的参数自校正滑模变结构控制方案。该方案引入参数可调的双极性sigmoid函数来替代符号函数,从而能有效地减轻输入控制量的高频抖振,同时能获得比使用饱和函数时更小的跟踪误差。基于李雅普诺夫稳定性理论,推导出sigmoid函数的切换增益与边界层厚度两个参数的自校正规律,计算出合适的非线性控制量,证明了位置跟踪误差将在有限时间内收敛到零。仿真与试验结果证明了该方案的可行性及有效性。 A new robust tracking controller for electro-hydraulic servo system based on adaptive sliding mode control was presented. The Sigmoid function with parameters＇ tuning was adopted instead of sign function to reduce the high frequency chattering of inputs and to obtain less tracking errors. Without the boundaries of the uncertainties, the controller and the self-tuning laws for controller parameters were designed by using Lyapunov stability argument. The state trajectories can reach the sliding mode and the tracking error can convergence to zero within finite time while control input chattering does not exits any more. Simulation and experimental results was presented to verify the feasibility effectivenesss.

关 键 词： 电液伺服系统 滑模变结构控制 抖振消除 边界层调节

领　　域： [自动化与计算机技术] [自动化与计算机技术]