• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (3): 72-75.

• 论文 • 上一篇    下一篇

电液伺服系统的二阶滑模控制算法研究

李运华;杨丽曼;张志华   

  1. 北京航空航天大学自动化学院;郑州大方桥梁机械有限公司
  • 发布日期:2005-03-15

STUDY ON SENCOND-ORDER SLIDING MODE CONTROL LAW FOR ELECTRO-HYDRAULIC SERVO SYSTEM

Li Yunhua;Yang Liman;Zhang Zhihua   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics Zhengzhou Dafang Bridge Machinery Co. Ltd
  • Published:2005-03-15

摘要: 针对存在非线性和不确定性的电液伺服系统的跟踪问题,研究了基于时间最优和Lyapunov函数的二阶滑模控制算法。分析了现有二阶时间最优滑模控制算法的问题,提出了改进的二阶近似时间最优控制算法。它可在保证鲁棒性的同时,有效抑制抖振并提高二阶滑模的响应速度。以大型工程机械的电液伺服转向系统为例对算法进行仿真研究,验证了算法的有效性。

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

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