电液伺服系统的增益自适应滑模变结构控制

为实现对电液伺服系统非线性、不确定性和未建模动态等因素的有效补偿,将系统转换成具有自适应动态递归模糊神经网络(ADRFNN)辨识误差,即二次不确定性的等效线性数学模型,利用增益自适应滑模变结构控制(GASMC)方法对系统进行综合设计.实验结果表明:ADRFNN的高精度在线辨识和GASMC校正项的增益自适应功能使系统具有较强鲁棒性和更高的稳态精度,同时使系统控制量的颤振现象得到有效抑制.

Gain adaptive sliding mode variable structure control in electro-hydraulic servo system

To compensate effectively such elements as the nonlinearity,uncertainty and unmodeled dynamics in electro-hydraulic servo system,a mathematic model of the system was turned into an equivalent linear model including an item of identification error which called 2nd uncertainty of adaptive dynamic recurrent fuzzy neural networks(ADRFNN).The gain adaptive sliding mode variable structure control(GASMC)was used to synthesize the control effort.Experimental results show that the high identification accuracy online by ADRFNN and the adaptive function of the gain with correction item in the GASMC make the system possess strong robustness and high steady accuracy,meanwhile the chattering phenomenon of the control effort is suppressed effectively.