非线性电液伺服系统的变结构控制

针对阀控缸电液伺服系统的特点，应用非线性系统几何理论，将原非线性系统作全局精确线性化变换，并解释了其物理意义，然后对线性化了的系统，设计了模型到达变结构控制器，充分发挥滑态的优良特性及其对摄动的不变性，并引入了位移、速度、加速度反馈，该方法不要求模型的精确性，算法简单，便于实时控制。

VARIABLE STRUCTURE CONTROL OF A NONLINEAR ELECTRO HYDRAULIC SERVO SYSTEM

Aimed at the characters of a valve control cylinder electro hydraulic servo system, the global precise linearizing transformation is made for a nonlinear system by geometric theory of a nonlinear system, and the physical meaning is explained. Then the model reaching variable structure controller(MRVSC) is designed for the linearized system. Strong robust of the system is obtained via the unchangeability of the sliding mode to the disturbance, the good character of the sliding mode and the feedback of displacement, velocity and acceleration. By this method, the model is not required to be precise, and the calculation is simple for real time control.