电子科技大学学报
電子科技大學學報
전자과기대학학보
JOURNAL OF UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA
2014年
5期
794-799
,共6页
函数逼近技术%阻抗控制%多滑模面控制%气液联控%鲁棒
函數逼近技術%阻抗控製%多滑模麵控製%氣液聯控%魯棒
함수핍근기술%조항공제%다활모면공제%기액련공%로봉
function approximation technique%impedance control%multiple-surface sliding control%pneumatic hydraulic combination control system%robust
针对气液联控系统(PHCC)的非线性、系统参数及外界干扰的不确定性，提出基于多滑模控制(MSSC)和函数逼近技术(FAT)的控制算法。利用Lyapunov方法获得闭环系统稳定性，实现了气液联控系统的鲁棒性阻抗控制。在PHCC平台下进行了7 mm/s斜坡往复信号和0.2 Hz正弦信号的阻抗控制仿真研究。仿真结果表明，该控制策略能较好地实现PHCC系统的柔顺控制，并具有较好的鲁棒性，系统在自由运动阶段和柔顺运动阶段均具有较好的跟踪性能。
針對氣液聯控繫統(PHCC)的非線性、繫統參數及外界榦擾的不確定性，提齣基于多滑模控製(MSSC)和函數逼近技術(FAT)的控製算法。利用Lyapunov方法穫得閉環繫統穩定性，實現瞭氣液聯控繫統的魯棒性阻抗控製。在PHCC平檯下進行瞭7 mm/s斜坡往複信號和0.2 Hz正絃信號的阻抗控製倣真研究。倣真結果錶明，該控製策略能較好地實現PHCC繫統的柔順控製，併具有較好的魯棒性，繫統在自由運動階段和柔順運動階段均具有較好的跟蹤性能。
침대기액련공계통(PHCC)적비선성、계통삼수급외계간우적불학정성，제출기우다활모공제(MSSC)화함수핍근기술(FAT)적공제산법。이용Lyapunov방법획득폐배계통은정성，실현료기액련공계통적로봉성조항공제。재PHCC평태하진행료7 mm/s사파왕복신호화0.2 Hz정현신호적조항공제방진연구。방진결과표명，해공제책략능교호지실현PHCC계통적유순공제，병구유교호적로봉성，계통재자유운동계단화유순운동계단균구유교호적근종성능。
Aiming at the non-linearity as well as the uncertainty of parameters and external interference in pneumatic hydraulic combination control system (PHCC), the function approximation technique (FAT) based the multiple-surface sliding control (MSSC) algorithm is presented in this paper. The Lyapunov method is applied to acquire the stability of closed-loop system and realize the robust impedance control of PHCC system. The impedance control simulation researches are conducted under the 7 mm/s repeatedly slope and 0.2 Hz sine signal respectively. The simulation results show that the control strategy is able to perform good compliant control with good robustness and the system performs well in both free-space and compliant tracking movements.
