泵控电液伺服系统基于未知死区补偿的自适应鲁棒控制

An adaptive robust control method based on unknown dead-zone compensation is proposed for the input dead-zone characteristics, parameter uncertainties and unmodeled disturbances in pump controlled electro-hydraulic servo systems. The pump controlled system model is established to analyze the dead-zone nonlinearity in the system, and a smooth dead-zone inverse function is constructed to compensate the dead-zone. Then the adaptive robust controller is designed using the backstepping method, and the adaptive law is synthesized for parameter estimation to deal with parameter uncertainties including dead-zone parameters, system parameters, and upper bounds of disturbances; the nonlinear robust feedback is used for unknown disturbances suppression. The Lyapunov stability analysis shows that the designed controller can achieve asymptotic tracking in the presence of dead-zone characteristics, parameter uncertainties, and unmodeled disturbances simultaneously. The feasibility and superiority of the proposed control method are verified by comparative experiments.