Finite-Time Fault-Tolerant Control for Swashplate of Integrated Hydraulic Transformer With Uncertain Mismatched Interference
Finite-Time Fault-Tolerant Control for Swashplate of Integrated Hydraulic Transformer With Uncertain Mismatched Interference
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DOI：
10.1109/tie.2022.3192601
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发表时间：
2023
影响因子：
7.7
通讯作者：
W. Shen;Deyin Yao;Chao Shen;Hongyi Li
中科院分区：
文献类型：
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作者：
W. Shen;Deyin Yao;Chao Shen;Hongyi Li
本文考虑了具有失配干扰的集成液压变压器（IHT）斜盘伺服机构的精确位置控制。与配流盘旋转式 IHT 相比，斜盘旋转式 IHT 泄漏更小，效率更高，但存在参数不确定性和柱塞扭矩时变不确定的问题。为了增强所提出系统的鲁棒性，开发了一种基于有限时间扩展状态观测器（FTESO）的新型鲁棒控制方案。在所提出的控制方案中，考虑了系统非线性、参数不确定性和执行器故障，并建立了一种新颖的 FTESO 来获取状态变量、负载扭矩和故障信号。通过在反步设计的每一步中引入非奇异终端滑模面和有限时间技术，该新型控制方案能够增强伺服机构的鲁棒性并实现跟踪误差的有限时间稳定性。最后进行对比实验验证控制器设计的有效性。
The precision position control for the swashplate servomechanism of the integrated hydraulic transformer (IHT) with mismatched interference is considered in this article. Compared with the type of port-plate-rotating IHT, the swashplate-rotating IHT has smaller leakage and higher efficiency, but suffers from parameters uncertainty, and time-varying uncertain torque from the plungers. To enhance the robustness of the proposed system, a novel robust control scheme based on a finite-time extended state observer (FTESO) is developed. In the proposed control scheme, the system nonlinearities, parameter uncertainty, and actuator failure are taken into account, and a novel FTESO is established to obtain the state variables, load torque, and failure signals. By introducing the nonsingular terminal sliding mode surface and finite-time technique in each step of the backstepping design, the novel control scheme is able to enhance the robustness of servomechanism and realize finite-time stability of the tracking errors. Finally, the comparative experiment is performed to verify the effectiveness of the controller design.