【摘要】 对于液压系统的跟踪控制,非线性控制比线性控制具有更多的优越性。但在非线性控制中,为了进行有效的控制,经常需要更多的传感器,同时假设弹性模量为一个时不变参数。针对这些问题,利用奇异摄动理论,提出了一种不需要附加传感器,并对时变弹性模量具有鲁棒性的控制策略。仿真结果表明,利用该方法得到的控制系统对输入信号具有良好的跟踪性和鲁棒性,并且较其它的非线性跟踪控制策略更经济。更多还原

【Abstract】 Nonlinear control laws provid improved performance compared with linear control laws for tracking control of hydraulic systems. But additioinal sensors are needed for effective control,and hydraulic fluild bulk modulus is constantly regarded as a time - invariable const hypothetically in nonlinear control method. Considering these problems, a control strategy, which does not need additional sensors and takes on robust perfomance for time - invariable elastic modulus,is applied using singular perturbation theory.The results of simulation indicate that the designed control system provides better robustability and excellent tracking performance, and is more economic than other nonlinear tracking algorithms.更多还原