扩展状态基于观察者的自适应动态表面对具有不确定性的电动动力驱动器进行规定的性能控制
Qian-Kun Liang1, Yan Cai2, Jin-Chun Song3
1Hubei Sanjiang Aerospace Hongfeng Control Ltd, China Space Sanjiang Group Ltd, Xiaogan 432003, China.
ISA transactions
|January 9, 2025
概括
本研究引入了电液执行器 (EHA) 的新控制策略,该策略显著提高了跟踪精度和干扰排斥. 先进的方法确保了精确的性能,即使在系统不确定性和外部干扰的情况下.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 液压系统 水力系统
背景情况:
- 电液驱动器 (EHA) 面临着参数不确定性和干扰的挑战,限制了现有控制方法的跟踪精度.
- 当前强大的自适应控制策略往往会导致统一的最终边界跟踪错误,这可能不符合严格的性能要求.
研究的目的:
- 为EHA开发一个先进的控制方案,以实现非对称的跟踪性能并增强反干扰能力.
- 通过提出一种控制策略来解决现有方法的局限性,以保证精确的跟踪和稳定性.
主要方法:
- 提出了一个基于扩展状态观察者 (ESO) 的非对称控制方案,将规定的性能控制与后退框架集成在一起.
- 一个新的ESO被设计用于对不匹配的干扰及其衍生物的非对称估计,而不需要先前的界限.
- 使用具有自适应调节机制的动态表面控制来防止"复杂性爆炸",并确保闭环系统的稳定性.
主要成果:
- 拟议的控制策略证明了实现非对称追踪错误的能力,超过了传统方法的统一最终边界错误.
- 新的ESO有效地估计了未知的干扰及其衍生物,有助于提高系统的稳定性.
- 模拟和实验验证证证实了开发的控制方案的有效性和卓越性能.
结论:
- 基于ESO的规定的性能控制策略为EHA提供了强大的适应性控制的重大进步.
- 该方法提供了非对称的跟踪性能和强大的反干扰能力,通过全面的测试来验证.
- 这种方法在存在不确定性和干扰的情况下提高了EHA系统的可靠性和精度.
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