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随着电液压伺服系统在航空航天领域、电力、农业机械和制造工业越来越广泛地应用,实际工程对其性能的要求也越来越高,但是模型不确定和负载力矩的存在会阻碍系统性能的提升。针对干扰观测器(Disturbance Observer,DOB)在干扰估计方面的不足,提出一种基于DOB的全局滑模控制器(Global Sliding Mode Controller,GSMC)。GSMC既可以削弱DOB未估干扰对控制系统性能的影响,又可以完成伺服跟踪功能。计算机仿真结果表明,相比传统的DOB+PID控制方案,所提出的双环控制方案可实现电液压伺服系统更精确地跟踪,同时控制量中无明显的高频抖动现象,因此该方案具有较高的实用价值。
With the application of electro-hydraulic servo system in the field of aeronautics and astronautics, electric power, agricultural machinery and manufacturing industry more and more widely, the actual engineering requirements of its performance are also getting higher and higher, but the model uncertainty and the existence of load torque will hinder the system Performance improvement. Aiming at the shortage of Disturbance Observer (DOB) in interference estimation, a Global Sliding Mode Controller (GSMC) based on DOB is proposed. GSMC can not only weaken the impact of DOB underestimated interference on control system performance, but also complete the servo tracking function. Computer simulation results show that compared with the traditional DOB + PID control scheme, the proposed double-loop control scheme can achieve more accurate tracking of the electro-hydraulic servo system with no obvious dithering in the control volume, so the scheme has a higher The practical value.