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针对轧机液压伺服系统工作过程中弹性负载力和外负载力的跳变,基于公共Lyapunov函数方法和自适应反步控制方法,提出了一种多模型切换自适应反步控制策略.该方法结合自适应反步控制的特点和公共Lyapunov函数的设计要求,通过反步法设计了各子系统的状态反馈控制器和不确定上界参数的自适应估计器,取反步法的Lyapunov函数作为公共Lyapunov函数,保证了系统在任意切换下的渐近稳定.自适应反步法和公共Lyapunov函数方法的结合,便于公共Lyapunov函数的求取,又解决了同时存在参数跳变和参数慢时变的问题.仿真结果表明,该方法能够保证轧机液压伺服系统具有良好的动静态性能,并对参数跳变和参数慢时变具有较强鲁棒性.
Aiming at the jump of elastic load force and external load during the operation of rolling mill hydraulic servo system, an adaptive backstepping control strategy based on the common Lyapunov function method and the adaptive backstepping control method is proposed. Adapting to the characteristics of backstepping control and the design requirements of public Lyapunov function, the state feedback controller of each subsystem and the adaptive estimator of uncertain upper bound parameters are designed by the backstepping method, and the Lyapunov function of backstepping method is used as the public Lyapunov Function to ensure the asymptotic stability of the system under arbitrary switching.The combination of adaptive backstepping method and public Lyapunov function method can facilitate the calculation of public Lyapunov function and solve the problem of simultaneous parameter jump and slow parameter change The simulation results show that this method can ensure the mill hydraulic servo system has good dynamic and static performance, and has strong robustness to parameter jump and parameter slow - time change.