基于事件触发和扩展状态观测器的液压位置跟踪系统控制研究

doi:10.3901/JME.2022.08.274

机械工程学报 ›› 2022, Vol. 58 ›› Issue (8): 274-284.doi: 10.3901/JME.2022.08.274

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基于事件触发和扩展状态观测器的液压位置跟踪系统控制研究

沈伟¹, 袁小康¹, 刘明²

1. 上海理工大学机械工程学院上海 200093;
2. 哈尔滨工业大学航天学院哈尔滨 150001

收稿日期:2021-11-19 修回日期:2022-02-28 出版日期:2022-04-20 发布日期:2022-06-13
通讯作者: 沈伟(通信作者),男,1984年出生,副教授,博士研究生导师。主要研究方向为电液伺服控制,基于CPR的液压节能,液压变压器元件开发,液压泵控系统的节能与控制。E-mail:shenwei@usst.edu.cn
作者简介:袁小康,男,1996年出生,硕士研究生。主要研究方向为电液伺服控制。E-mail:193711548@st.usst.edu.cn;刘明,男,1981年出生,教授,博士研究生导师。主要研究方向为网络化安全控制(事件触发、网络信息安全、信息物理系统CPS)、故障诊断和容错控制,大规模智能星群的设计与优化。E-mail:mingliu23@hit.edu.cn
基金资助:
国家重点研发计划(2020YFB2009900)和国家自然科学基金(51975376)资助项目。

Event-triggered Control for Hydraulic Position Tracking System with Extended State Observer

SHEN Wei¹, YUAN Xiaokang¹, LIU Ming²

1. School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093;
2. School of Astronautics, Harbin Institute of Technology, Harbin 150001

Received:2021-11-19 Revised:2022-02-28 Online:2022-04-20 Published:2022-06-13

摘要/Abstract

摘要： 基于网络控制技术的液压控制系统具有远程控制、模块化、资源共享等优点。然而，液压控制系统本身具有强非线性和参数不确定性等特点，结合网络控制系统具有的通信带宽受限等问题，导致控制效果不好而限制了应用。针对以上问题，提出一种具有事件触发机制和扩展状态观测器(Extended state observer,ESO)的自适应鲁棒控制策略。通过引入事件触发机制过滤大量的冗余数据，提高通信带宽的利用率。基于模型设计出一种扩展状态观测器，同时对速度值和不匹配外干扰进行估计。通过自适应算法在线估计液压控制系统的不确定参数。通过Lyapunov稳定性理论分析闭环系统的全局稳定性。试验表明所设计的算法在减少了大量数据传输量的同时，具有良好的位置跟踪控制性能。

关键词: 液压控制系统, 网络控制, 事件触发策略, 扩展状态观测器, 位置跟踪控制

Abstract: The hydraulic control system based on network control technology has the advantages of remote control, modularization and resource sharing. However, the hydraulic control system itself has the characteristics of strong nonlinearity and parameter uncertainty, and the network control system has problems such as limited communication bandwidth, which lead to poor control performance and limit the application. An adaptive robust control strategy with an event-triggered mechanism and an extended state observer(ESO) is proposed to deal with the above problems. By introducing an event-triggered strategy to filter a large amount of redundant data, the utilization of communication bandwidth is improved. An extended state observer is designed based on the model to simultaneously estimate the velocity value and the disturbance outside the mismatch. The uncertain parameters of the hydraulic control system are estimated online through an adaptive algorithm. The global stability of the closed-loop system is analyzed by the Lyapunov stability theory. Experimental results indicate that the designed algorithm has good position tracking control performance while reducing a large amount of data transmission.

Key words: hydraulic servo system, network control technology, event-triggered strategy, extended state observer, position tracking control

中图分类号:

TP273

沈伟, 袁小康, 刘明. 基于事件触发和扩展状态观测器的液压位置跟踪系统控制研究[J]. 机械工程学报, 2022, 58(8): 274-284.

SHEN Wei, YUAN Xiaokang, LIU Ming. Event-triggered Control for Hydraulic Position Tracking System with Extended State Observer[J]. Journal of Mechanical Engineering, 2022, 58(8): 274-284.

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基于事件触发和扩展状态观测器的液压位置跟踪系统控制研究

Event-triggered Control for Hydraulic Position Tracking System with Extended State Observer

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