论文标题
电液压伺服系统的自适应模糊控制
Adaptive fuzzy control of electrohydraulic servosystems
论文作者
论文摘要
电液压伺服系统广泛用于工业应用中，例如机器人操纵器，主动悬架，精密机床和航空航天系统。它们比电动机提供了许多优势，包括高力量与重量比，快速响应时间和紧凑的尺寸。但是，由于其固有的非线性特征，对电液压驱动系统的精确控制无法通过常规线性控制器轻松获得。大多数流量控制阀还可以表现出一些硬性非线性，例如由于阀线轴重叠而导致的死区。这项工作描述了针对具有未知死区的电液压驱动系统的自适应模糊控制器的开发。使用Lyapunov稳定理论和Barbalat的引理证明了闭环系统的稳定性。为了证明控制系统性能，提出了数值结果。
Electrohydraulic servosystems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high force to weight ratio, fast response time and compact size. However, precise control of electrohydraulic actuated systems, due to their inherent nonlinear characteristics, cannot be easily obtained with conventional linear controllers. Most flow control valves can also exhibit some hard nonlinearities such as dead-zone due to valve spool overlap. This work describes the development of an adaptive fuzzy controller for electrohydraulic actuated systems with unknown dead-zone. The stability properties of the closed-loop systems was proven using Lyapunov stability theory and Barbalat's lemma. Numerical results are presented in order to demonstrate the control system performance.
