【摘要】 为了改善非线性摩擦因素和参数不确定等所导致的电液作动器（EHA）系统控制精度误差较大的问题，该文基于LuGre模型的原有基础上，提出一种具有摩擦补偿功能的鲁棒自适应控制器，以改善具有非线性摩擦、参数不确定性EHA的精确控制性能。通过LuGre模型对EHA系统的摩擦特性进行分析，研究非线性摩擦影响下液压缸的速度、位移、两腔压力变化、活塞杆受力的特性变化。研究该方法在通过鲁棒控制来达到降低外界各种因素所造成的干扰，并结合自适应理论用于解决参数不确定性的问题。通过李亚普诺夫稳定性分析表明，渐近性能得到保证。最后，通过实验证明了所设计的具有连续摩擦补偿功能的控制算法的适用性。更多还原

【Abstract】 In order to improve the problem of large control accuracy error of electro-hydraulic actuator(EHA) system caused by nonlinear friction factors and parameter uncertainty,this paper proposes a robust adaptive controller with friction compensation function based on the original LuGre model to improve the precise control performance of EHA with nonlinear friction and parameter uncertainty. The friction characteristics of the EHA system are analyzed by LuGre model,and the characteristic changes of the speed,displacement,two-chamber pressure change and piston rod force of the hydraulic cylinder under the influence of nonlinear friction are studied. The method is studied to reduce the interference caused by various external factors through robust control,and combined with adaptive theory to solve the problem of parameter uncertainty. The Lyapunov stability analysis shows that the asymptotic performance is guaranteed. Finally,the applicability of the designed control algorithm with continuous friction compensation function is proved by experiments.更多还原