被动式电液力伺服系统的高阶积分滑模控制

摘要

Aimed at the control problems for passive electric hydraulic servo system,the high-order integral sliding mode control method was proposed. The request of tracking controller for the desired trajectory of higher order derivatives could be reduced by the in-tegral sliding mode,and the chattering problem of the conventional sliding mode variable structure control was effectively suppressed. The conservative design of the controller parameters could be reduced by the uncertainty of CMAC neural network online learning sys-tem. The control method was used in electric hydraulic servo system,and simulated. The results show that the control scheme has bet-ter control performance,and can effectively suppress chattering of the system.%针对被动式电液力伺服系统的控制问题，提出了高阶积分滑模控制方法。积分滑动模可以降低控制器对期望跟踪轨迹高阶导数的要求，有效抑制传统滑模变结构控制中的抖振问题；CMAC神经网络在线学习系统不确定性能够降低控制器参数设计的保守性。将该控制方法应用于电液力伺服系统中，并进行仿真。结果表明：该控制方案均具有较好的控制性能，且能够有效抑制系统的抖振。