关键词: 电液伺服系统, 抖振, 滑模控制, 鲁棒性, 时间最优

Abstract: Aiming at the tracking control problem of electro-hydraulic servo system with uncertainties and nonlinearities, the second-order sliding mode(SOSM)control algorithms based on time optimal control and Lyapunov function are researched. The problems existed in the existing time-optimal sliding mode control law are analyzed, and an improved SOSM control algo-rithm with nearly time-optimal control is developed to effec-tively reduce chattering and enhance responding speed without losing robustness of the system. Taking the steering system model of practical transporting and lifting machinery as exam-ple, the simulation study on the algorithm is carried out, and its effectiveness is confirmed.

Key words: Chattering, Electro-hydraulic servo system, Robustness, Sliding mode control, Time optimal