引用本文:韩贺永,秦丽霞,柳渊,王凯,王晶.电液系统位置压力非线性自适应双闭环控制[J].控制理论与应用,2020,37(1):155~161.[点击复制]
HAN He-yong,QIN Li-xia,LIU Yuan,WANG Kai,WangJing.Position pressure nonlinear adaptive double closed-loop control of electro-hydraulic system[J].Control Theory and Technology,2020,37(1):155~161.[点击复制]
电液系统位置压力非线性自适应双闭环控制
Position pressure nonlinear adaptive double closed-loop control of electro-hydraulic system
摘要点击 2247  全文点击 921  投稿时间：2018-06-12  修订日期：2019-03-16
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DOI编号  10.7641/CTA.2019.80435
  2020,37(1):155-161
中文关键词  lyapunov方法  自适应控制  非线性  稳定性
英文关键词  lyaounov approach  adaptive control  nonlinear  stability
基金项目  国家自然科学基金（51505315），山西省“1331”项目，太原重型机械设备协同创新基金
作者单位E-mail
韩贺永 太原科技大学万柏林区窊流路66号 1934811388@qq.com 
秦丽霞 太原科技大学万柏林区窊流路66号  
柳渊 太原科技大学万柏林区窊流路66号  
王凯 太原科技大学万柏林区窊流路66号  
王晶* 太原科技大学万柏林区窊流路66号  
中文摘要
      随着技术的不断发展电液伺服系统的用途越来越广泛，电液伺服系统在工业设备工程机械、冶金机械、机械制造等领域占据着举足轻重的地位。本文建立位置压力非线性自适应双闭环控制，通过李亚普诺夫函数算法的稳定性探索闭环系统的稳定性。通过李亚普诺夫函数逐步分析算法的半负定。根据半负定判定该算法的稳定性，若为半负定则此时的函数为渐近稳定的。若不是半负定则不是渐进稳定的。采用李亚普诺夫函数算法的稳定性的控制方法，可以使系统的误差逐渐减小，从而使系统趋于稳定状态。从结果分析可以看出采用非线性自适应双闭环控制对跟踪位置压力的期望值有明显的提高，并且误差值也越来越小。
英文摘要
      Abstract: With the continuous development of technology, the use of electro-hydraulic servo systems has become more and more widespread. Electro-hydraulic servo systems have occupied an important position in the fields of industrial equipment construction machinery, metallurgical machinery and machinery manufacturing. This paper is established positional and pressure nonlinear adaptive double closed-loop control and explored the stability of the algorithm by Lyapunov function. The corresponding function to the Lyapunov second method is extrapolated using backstepping and is gradually analyzed by the Lyapunov function. We can get semi-negative of the algorithm. The stability of the algorithm is judged by semi-negative definite. If it is semi-negative, the function is asymptotically stable. If it is not half negative, it is not gradual and stable. By using the stability control method of the Lyapunov function algorithm, the error of the system can be gradually reduced, and the system tends to be stable.From the result analysis, it can be seen that the nonlinear self-adaptive double closed-loop control has a significant improvement in the expected value of the tracking position pressure, and the error is also getting smaller and smaller.