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浙江大学学报(工学版)
浙江大学学报(工学版)  2024, Vol. 58 Issue (3): 611-621    DOI: 10.3785/j.issn.1008-973X.2024.03.018
机械工程     
基于扩张滑模观测器的电液伺服系统鲁棒控制
臧万顺1,2(),沈刚3,*(),赵军4,臧克江5
1. 青岛理工大学 信息与控制工程学院，山东 青岛 266520
2. 安徽理工大学 安徽省煤矿安全采掘装备制造业创新中心，安徽 淮南 232001
3. 安徽理工大学 机电工程学院，安徽 淮南 232001
4. 山东科技大学 交通学院，山东 青岛 266590
5. 龙岩学院 物理与机电工程学院，福建 龙岩 364012
Extended sliding mode observer-based robust tracking control scheme for electro-hydraulic servo systems
Wanshun ZANG1,2(),Gang SHEN3,*(),Jun ZHAO4,Kejiang ZANG5
1. School of Information and Control Engineering, Qingdao University of Technology, Qingdao 266520, China
2. The Coal Mine Safety Mining Equipment Innovation Center of Anhui Province, Anhui University of Science and Technology, Huainan 232001, China
3. School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China
4. College of Transportation, Shandong University of Science and Technology, Qingdao 266590, China
5. School of Physics and Mechanical and Electrical Engineering, Longyan University, Longyan 364012, China
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摘要：

为了提高电液伺服系统(EHSSs)控制性能，考虑外部干扰力、摩擦力、参数变动、结构振动及未建模特性等系统不确定性，构建系统状态空间模型. 为了应对系统不确定性，提出新型扩张滑模观测器(ESMO)，用于同时估计系统全状态和系统不确定性，并结合等值注入原理及饱和函数进行合理优化. 利用系统不确定性的估计值，在反步控制设计中引入障碍Lyapunov函数，将系统的跟踪误差约束在一定范围内，结合参数自适应律，提高系统控制性能. 为了验证所提控制方法的性能，在MATLAB/Simulink软件平台构建仿真模型，进一步地，搭建电液伺服系统实验台及实时控制系统，进行仿真和实验验证. 结果表明所提方法的性能优于基于障碍Lyapunov函数的反步控制器及传统的反步控制器.
关键词： 电液伺服系统;  系统不确定性;  扩张滑模观测器;  参数自适应;  障碍Lyapunov函数;  反步控制    
Abstract:

A state-space model was constructed by considering system uncertainties such as external disturbances, friction force, parameter uncertainties, structural vibrations as well as unmodeled characteristics, in order to improve the control performance of electro-hydraulic servo systems (EHSSs). A novel extended sliding mode observer (ESMO) was proposed to simultaneously estimate the system full-state and the system uncertainties, in order to address the system uncertainties. The ESMO was optimized using the equivalent injection principle and proper saturation functions. The estimated value of the system uncertainties was then utilized in the design of the backstepping control architecture, where a barrier Lyapunov function (BLF) was introduced to constrain the tracking error within a desired certain range. In addition, parameter adaptation laws were incorporated to enhance the control performance of the system. A simulation model was established in the MATLAB/Simulink software, to validate the performance of the proposed control methodology. What's more, an experimental setup of the EHSS was implemented, and some real-time control experiments were conducted. The results from both simulation and experiment demonstrate that the proposed methodology outperforms the BLF-based backstepping controller and the traditional backstepping controller.
Key words: electro-hydraulic servo system    system uncertainty    extended sliding mode observer    parameter adaption    barrier Lyapunov function    backstepping control
收稿日期: 2023-03-09 出版日期: 2024-03-05
CLC:  TH 137.9  
基金资助: 山东自然科学基金资助项目（ZR2021QE107，ZR2022QF011）；国家自然科学基金资助项目（U21A20125，62203279）；安徽省煤矿安全采掘装备制造业创新中心开放课题基金资助项目（CMSMEICAP2023007）；江苏省自然科学基金杰出青年基金资助项目（BK20200029）；福建省科技厅引导性资助项目（2020Y0088）；龙岩市科技计划重点资助项目（2020LYF9002）；龙岩学院科学研究启动基金资助项目（LB2018035）；山西省揭榜招标项目（20201101010）.
通讯作者: 沈刚     E-mail: wanshunzang@163.com;shenganghit@163.com
作者简介: 臧万顺（1987—），男，副教授，博士，从事电液伺服系统控制研究. orcid.org/0000-0001-5253-0984. E-mail：wanshunzang@163.com
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引用本文:

臧万顺,沈刚,赵军,臧克江. 基于扩张滑模观测器的电液伺服系统鲁棒控制[J]. 浙江大学学报(工学版), 2024, 58(3): 611-621.

Wanshun ZANG,Gang SHEN,Jun ZHAO,Kejiang ZANG. Extended sliding mode observer-based robust tracking control scheme for electro-hydraulic servo systems. Journal of ZheJiang University (Engineering Science), 2024, 58(3): 611-621.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2024.03.018    或    https://www.zjujournals.com/eng/CN/Y2024/V58/I3/611

图 1  阀控液压缸原理图
图 2  闭环控制系统结构图
参数 / 单位数值
Ap / m21.88×10?3
βe / Pa6.9×108
ΔPr / Pa6×106
Ps / Pa8×106
Bp/(N·m?1·s)7500
m / kg500
Vt / m30.38×10?3
umax / V10
$q_{V_{\mathrm{r}}} $/ (L·min?1)38
Ctl / (m3·s?1·Pa?1)4.6×10?16
表 1  电液伺服系统关键参数
图 3  仿真中反步控制器的性能
图 4  仿真中基于障碍Lyapunov函数的反步控制器的性能
图 5  仿真中所提出的控制器的性能
图 6  电液伺服系统实验台
图 7  实验台的实际控制系统
图 8  实验中反步控制器的性能
图 9  实验中基于障碍Lyapunov函数的反步控制器的性能
图 10  实验中所提出的控制器的性能
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