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[1]王洪斌,张永顺,冯少婵,等.直驱泵控缸系统建模及自适应反推滑模控制[J].电机与控制学报,2011,(09):92-98.
 WANG Hong-bin,ZHANG Yong-shun,FENG Shao-chan,et al.System modeling and adaptive backstepping sliding mode control for direct-drive pump-controlled cylinder[J].,2011,(09):92-98.
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2011年09
页码:
92-98
栏目:
出版日期:
2011-09-20

文章信息/Info

Title:
System modeling and adaptive backstepping sliding mode control for direct-drive pump-controlled cylinder
作者:
王洪斌; 张永顺; 冯少婵; 高殿荣;
燕山大学工业计算机控制工程河北省重点实验室; 燕山大学重型机械流体动力传输与控制河北省重点实验室;
Author(s):
WANG Hong-bin1ZHANG Yong-shun1FENG Shao-chan1GAO Dian-rong2
1.Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China;2.Hebei Province Key Laboratry of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao 066004,China
关键词:
泵控缸 轴向柱塞电机泵 反推法 滑模控制 参数自适应
Keywords:
pump-controlled cylinder axial piston hydraulic motor pump backstepping sliding mode control parameter adaptive control
分类号:
TP273
DOI:
-
文献标志码:
A
摘要:
针对电机泵驱动的泵控缸伺服系统随工况变化而存在参数摄动和负载扰动的问题,提出一种改进自适应反推滑模控制策略。由于该泵控缸数学模型中控制量前具有在零点非连续不可导函数sgn(u),通过等效变换实现了对系统模型化简,有效解决了控制器设计过程中部分函数不可导的难题。采用积分滑模与反推法相结合的复合控制策略,有效地削弱参数慢时变和负载力扰动的不良影响,并通过选取合适的Lyapunov函数,保证了整个系统的渐近稳定性。仿真结果表明,该控制策略具有良好的动静态性能和强鲁棒性。
Abstract:
In this paper,an improved adaptive backstepping controller with sliding mode control is presented for this discussion that relates to the internal parameters and external load bearing with uncertainty and time-varying of a pump-controlled cylinder position servo system when the working condition of this system is changing.Before the control survey,mathematical model of this pump-controlled has some features that are discontinuous and non-derivable function sgn(u) at the zero point.The difficult ...

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备注/Memo

备注/Memo:
国家自然科学基金(50775194)
更新日期/Last Update: 2012-04-06