CAJ | 학술논문

针对具有参数不确定、非线性和输入饱和问题的轧机液压伺服位置系统，提出一种鲁棒自适应backstepping控制策略。首先，定义一个光滑函数估计饱和函数；为获得稳定的控制输入信号，对被控对象进行增维。其次，利用backstepping方法进行控制器的设计，其中，为处理估计函数的偏微分引入了Nussbaum型函数。最后基于Lyapunov方法证明了闭环系统的所有信号是一致终结有界的。仿真结果表明，该方法能够有效抑制输入饱和对系统造成的不良影响，并能保证系统对参数慢时变具有较强的鲁棒性。
침대구유삼수불학정、비선성화수입포화문제적알궤액압사복위치계통，제출일충로봉자괄응backstepping공제책략。수선，정의일개광활함수고계포화함수；위획득은정적공제수입신호，대피공대상진행증유。기차，이용backstepping방법진행공제기적설계，기중，위처리고계함수적편미분인입료Nussbaum형함수。최후기우Lyapunov방법증명료폐배계통적소유신호시일치종결유계적。방진결과표명，해방법능구유효억제수입포화대계통조성적불량영향，병능보증계통대삼수만시변구유교강적로봉성。
A robust adaptive backstepping control method is proposed for rolling mill hydraulic servo position system, which con-tains uncertain parameters, nonlinear characteristics and input saturation. Firstly, a smooth function is used to approximate the saturation. The plant is augmented in order to obtain stable control input signal. Secondly, backstepping method is used to design controller. A Nussbaum function is introduced to deal with the derivative of the approximate function. Finally, Lyapunov method is used to prove that all the signals in the closed-loop system is uniformly ultimately bounded. Simulation results show that this method can not only suppress the harmful effect which input saturation causes effectively, but also ensure good robustness for system parameter slow time-varying.