High-Precision Position Tracking Control of Electro-hydraulic Servo Systems Based on an Improved Structure and Desired Compensation
High-Precision Position Tracking Control of Electro-hydraulic Servo Systems Based on an Improved Structure and Desired Compensation
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DOI：
10.1007/s12555-020-0705-1
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发表时间：
2021-09
期刊：
影响因子：
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通讯作者：
W. Shen;Xinyu Liu;Xiaoyu Su
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文献类型：
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作者：
W. Shen;Xinyu Liu;Xiaoyu Su
如何提高电液伺服系统的位置跟踪精度是当前研究的热点问题。全状态反馈控制因其能够显著提高控制性能而受到广泛关注，但由于测量噪声的影响较大，其实际应用范围受到限制。针对这一问题，提出了一种基于改进结构和期望补偿的自适应鲁棒控制器。首先，在基于模型补偿和自适应模型补偿器的控制器设计中，将实际状态值替换为相应的期望值，以减小测量噪声的影响。然后，我们引入一个新的辅助变量的控制器，以优化其结构。此外，非线性鲁棒控制律集成在控制器中，以平衡非结构化的不确定性。仿真分析表明，所提出的控制策略不仅在参数摄动时实现了渐近跟踪，而且在结构和非结构不确定性的共同影响下，也能保证系统具有指定的瞬态响应和最终跟踪精度。结果表明，该控制策略具有良好的控制精度和较强的鲁棒性.
How to improve the position tracking accuracy of electro-hydraulic servo system is a hot issue today. Full state feedback control has received widespread attention for its ability to significantly improve control performance, however, its practical application range is limited in view of the large influence of measurement noise. In terms of this issue, we propose an adaptive robust controller based on improved structure and desired compensation. Firstly, to reduce the impact of measurement noise, the actual state value is substituted by the corresponding desired value in the controller design based on model compensation and the adaptive model compensator. Then, we introduce a new auxiliary variable into the controller to optimize its structure. In addition, nonlinear robust control laws are integrated in the controller to balance unstructured uncertainties. Simulation analysis shows that the proposed control strategy not only achieves the asymptotic tracking when parameter perturbation exists, but also ensures a specified transient response and final tracing precision under the combined influence of structured and unstructured uncertainties. The results indicate that the control strategy has good control accuracy as well as strong robustness.