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【6h】 Backstepping Control of Electro-Hydraulic System Based on Extended-State-Observer With Plant Dynamics Largely Unknown

机译带有未知状态的扩展状态观测器的电液系统反推控制

【摘要】In this paper, an output position feedback control of the electro-hydraulic system (EHS) is proposed based on an extended-state-observer (ESO) with backstepping. On the basis of the augmented state model of the EHS, the ESO is designed to handle the unknown load disturbance and uncertain nonlinearity. Then, an observer bandwidth constraint is derived to compromise between the dynamic performance and the maximal load capability of EHS. The effectiveness of the proposed control for the suppression of largely unknown disturbances has been demonstrated by comparative experimental study, which indicates the proposed approach can achieve better dynamic performance on the motion control of two-degree-of-freedom robotic arm.

【摘要机译】本文提出了一种基于扩展状态观测器(ESO)并带有反推的电动液压系统(EHS)输出位置反馈控制方法。在EHS的增强状态模型的基础上,设计ESO以处理未知的负载扰动和不确定的非线性。然后,导出观察者带宽约束以在EHS的动态性能和最大负载能力之间折衷。通过比较实验研究证明了所提出的控制方法在抑制很大程度上未知的干扰方面的有效性,这表明所提出的方法在两自由度机械臂的运动控制上可以实现更好的动态性能。

【原文格式】PDF

机译 观察者;阀门;不确定性;伺服电机;载荷建模;机器人;后推;
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