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电液伺服泵(IEHSP)由于在结构上实现了伺服电机和液压泵共转子、共壳体高度融合,在体积、噪声和效率等方面具有明显优势,具有很好的应用前景。为了提高电液伺服泵的调速性能与抗扰能力,设计了一种新型分数阶滑模控制器(NFOSMC)。首先,由于分数阶微积分理论的引入,控制器为系统提供了更多的控制余度。然后,针对传统滑模控制中存在的抖振问题,通过设计使控制器中直接包含有切换项的分数阶积分项,利用其滤波特性可以有效滤除抖振,实现无抖振滑模控制。同时利用Lyapunov稳定性定理证明了控制器可以保证系统在存在内扰与外扰时能够在有限时间内收敛于平衡点,另外控制器中避免了含有高阶分数阶微分项,扩大了分数阶阶数的取值范围。为了进一步提高抗扰能力,设计了分数阶扰动观测器(FODOB),对系统内扰和外扰实时观测并补偿,有效提高了控制器的响应速度和刚度。最后,分别与PI控制、整数阶滑模控制器(IOSMC)和传统分数阶滑模控制器(CFOSMC)进行了仿真分析比较,结果表明该控制器能够有效改善速度跟踪性能和增强抗扰能力,消抖效果显著。
Due to the structural realization of the servo motor and the hydraulic pump co-rotor, the high-temperature co-housing is highly integrated and has obvious advantages in volume, noise and efficiency, and has a good application prospect. In order to improve the speed regulation performance and anti-interference ability of electro-hydraulic servo pump, a new fractional sliding mode controller (NFOSMC) is designed. First, due to the introduction of fractional calculus theory, the controller provides more control margin for the system. Then, in view of the chattering problem existing in the traditional sliding mode control, by designing the integral part of the controller which contains the switching term directly, the filter characteristic can effectively filter the chattering and achieve chatter-free sliding mode control. At the same time, the Lyapunov stability theorem is used to prove that the controller can ensure that the system can converge to the equilibrium point within a limited time when there is an internal disturbance and an external disturbance. In addition, the controller avoids the problem of containing higher-order fractional differential terms and expanding fractional order The range of numbers. In order to further improve the immunity, a fractional order disturbance observer (FODOB) is designed to observe and compensate real-time disturbance and disturbance of the system in real time, which effectively improves the response speed and stiffness of the controller. Finally, the simulation analysis and comparison with PI control, integer order sliding mode controller (IOSMC) and traditional fractional sliding mode controller (CFOSMC) respectively show that the controller can effectively improve the speed tracking performance and enhance the anti-interference ability, Debounce effect is remarkable.