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电液负载模拟器(EHLS)是典型的电液力矩伺服系统,存在大量非线性特性和模型不确定性(特别是非线性摩擦),随着对电液力矩伺服系统跟踪性能的要求越来越高,传统线性控制策略很难满足加载系统的高性能需求,迫切需要设计先进的非线性控制策略。针对以上问题,建立了包含连续可微摩擦模型的系统非线性数学模型,基于Lyapunov理论设计了一种误差符号积分鲁棒控制方法。该方法能够克服模型不确定性对系统的影响,在舵机运动干扰作用下实现了系统的渐近稳定性能。实验对比结果验证了该控制方法的优良性能。
Electro-hydraulic load simulator (EHLS) is a typical electro-hydraulic servo system with a large number of nonlinear and model uncertainties (especially non-linear friction), with the increasingly high tracking performance of electro-hydraulic torque servo system The traditional linear control strategy is difficult to meet the high performance requirements of the loading system. It is urgent to design advanced non-linear control strategy. In view of the above problems, a nonlinear mathematical model of a system containing continuous and differentiable friction models is established. Based on Lyapunov theory, a robust control method of error sign integrals is designed. This method can overcome the influence of model uncertainty on the system, and achieves the asymptotic stability of the system under the disturbance of steering gear motion. The experimental results verify the excellent performance of this control method.