State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach
State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach
复制标题
使用李亚普诺夫函数方法对旋转直驱伺服阀进行状态反馈积分控制
DOI：
10.1016/j.isatra.2014.08.006
复制
发表时间：
2015
期刊：
影响因子：
7.3
通讯作者：
Yu Dehong
中科院分区：
文献类型：
--
作者：
Yu Jue;Zhuang Jian;Yu Dehong
针对旋转直接驱动伺服阀（RDDV），考虑参数不确定性，提出了一种基于李雅普诺夫函数的状态反馈积分控制方法。该RDDV伺服阀的建模表明，其机械性能深受摩擦扭矩和流量扭矩的影响;然而，由于流体流动的性质，这些扭矩是不确定且可变的。为了消除负载阻力并获得满意的位置响应，本文提出了一种集成积分作用和李雅普诺夫函数的状态反馈控制。积分作用被引入到解决非零稳态误差，特别是，李雅普诺夫函数被用来提高控制的鲁棒性，通过调整其值范围内的变化参数。该控制器还具有结构简单、易于实现等优点。仿真和实验结果表明，该控制器具有较高的控制精度和较强的鲁棒性。
This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness.