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首页> 外文会议>FPST-vol.13; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition; 20061105-10; Chicago,IL(US) >CASCADED ROBUST NONLINEAR POSITION TRACKING CONTROL OF AN ELECTROHYDRAULIC ACTUATOR: SLIDING MODE AND FEED FORWARD
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CASCADED ROBUST NONLINEAR POSITION TRACKING CONTROL OF AN ELECTROHYDRAULIC ACTUATOR: SLIDING MODE AND FEED FORWARD

机译：电动执行器的级联鲁棒非线性位置跟踪控制：滑模和前馈

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摘要

An approach to position tracking control based on a cascade of a nonlinear force tracking controller derived from a near input-output linearization framework and a simple feedback plus feed forward position controller is presented. The method exploits the cascade structure to employ a sliding mode pressure force tracking controller as inner-loop and the position tracking controller as an outer-loop. Furthermore, it is highlighted that Lyapunov backstepping analysis can be used to drive performance bounds and reveal trade-offs between the size of uncertainty and measurement errors and the tracking accuracy. The performance of the proposed cascaded robust controller is demonstrated with experiments and simulations on a test system that doesn't necessarily satisfy all of the assumptions made for controller derivation. In particular, a typical comparison of the robust and nominal cascade controllers shows the robust version can recover the performance of the nominal near IO linearizing controller. In addition, model simulation results are included to show the performance of the controller in the presence of some combinations of perturbations or difficult to estimate parameters such as valve coefficient, supply pressure, piston friction, and inclusion of servovalve spool dynamics.
机译：提出了一种基于近似输入输出线性化框架和简单反馈加前馈位置控制器的非线性力跟踪控制器的级联的位置跟踪控制方法。该方法利用级联结构来采用滑动模式压力跟踪控制器作为内环，而位置跟踪控制器作为外环。此外，需要强调的是，Lyapunov反推分析可用于驱动性能界限，并揭示不确定性和测量误差的大小与跟踪精度之间的折衷。所提出的级联鲁棒控制器的性能通过在测试系统上的实验和仿真得到了证明，该系统不一定满足控制器推导的所有假设。特别是，鲁棒和标称级联控制器的典型比较表明，鲁棒版本可以恢复标称接近IO线性化控制器的性能。此外，还包括模型仿真结果，以显示在存在一些扰动组合或难以估计参数（例如阀系数，供应压力，活塞摩擦力和伺服阀阀芯动力学）的情况下控制器的性能。

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