基于状态观测与障碍Lyapunov函数的电液比例阀位置控制研究

doi:10.3901/JME.260506

摘要/Abstract

摘要： 针对具有先导级-主级两级结构的电液比例阀系统中存在的摩擦、液动力等非线性，降低系统内部状态稳定性和主级阀芯位置跟踪性能的问题，提出一种融合状态观测器与障碍李雅普诺夫函数(Barrier Lyapunov function，BLF)自适应输出反馈规定性能控制器。首先，基于线性扩张状态观测器(Linear extended state observer，LESO)扰动观测器(Nonlinear disturbance observer，NDO)实现对主级中存在匹配和不匹配扰动进行前馈补偿与未知状态预测，将上述获取的信息融入采用反步法设计的双曲余弦型障碍李雅普诺夫函数(BLF)控制器中，通过约束控制误差的上限，将所有状态保持在预定范围内，并将输出跟踪误差在有限时间内收敛到预定边界内，利用李雅普诺夫理论分析了闭环系统的稳定性。最后，通过对比试验验证所提控制器的优越性。

关键词: 电液比例阀, 障碍函数, 扩张状态观测器, 反步控制

Abstract: Aiming at the nonlinearities such as friction and hydrodynamic forces that exist in the electro-hydraulic proportional valve system with a two-stage structure of pilot-main stage, which degrade the internal state stability of the system and the spool position tracking performance of the main stage, an adaptive output-feedback prescribed performance controller incorporating a state observer and a Barrier Lyapunov function(BLF) is proposed. First, feed-forward compensation and unknown state prediction of matching and mismatching perturbations existing in the main stage are realized based on the Linear expansion state observer(LESO) and Nonlinear disturbance observer(NDO), and then, the information obtained above is incorporated into a hyperbolic cosine-type Barrier Lyapunov function(BLF) controller designed by using the inverse step method, which maintains all the states within the predetermined by constraining the upper limit of the control errors. range and converging the output tracking error to a predetermined boundary in a finite time, the stability of the closed-loop system is analyzed by using the Lyapunov theory, and finally, the superiority of the proposed controller is verified by comparative experiments.

Key words: electro-hydraulic proportional valve, barrier function, expansion state observer, backstepping control

中图分类号:

TG156

陈俊翔, 蒋昕航, 艾超, 崔本涛, 孔祥东. 基于状态观测与障碍Lyapunov函数的电液比例阀位置控制研究[J]. 机械工程学报, 2026, 62(10): 389-403.

CHEN Junxiang, JIANG Xinhang, AI Chao, CUI Bentao, KONG Xiangdong. Position Control of Electro-hydraulic Proportional Valve Based on State Observation and Obstacle Lyapunov Function[J]. Journal of Mechanical Engineering, 2026, 62(10): 389-403.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I10/389

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