CAJ | 학술논문

针对具有状态不可测的单出杆液压缸位置伺服系统，提出一种基于扩张状态观测器和鲁棒控制器的输出反馈控制算法。所构造的扩张状态观测器在观测系统状态的同时，对系统的匹配未知干扰进行估计，并在设计的控制器中进行主动干扰补偿，提高系统控制性能。理论分析表明，本文所提出的液压位置伺服系统输出反馈控制器能够保证闭环系统的所有信号有界，以及保证预定的瞬态和稳态跟踪性能，当系统不存在未知干扰时可使系统获得渐近跟踪性能。由仿真结果可见，系统跟踪误差最大约为0．03mm，相对跟踪误差约为0．02％，证明了所提算法的有效性。
침대구유상태불가측적단출간액압항위치사복계통，제출일충기우확장상태관측기화로봉공제기적수출반궤공제산법。소구조적확장상태관측기재관측계통상태적동시，대계통적필배미지간우진행고계，병재설계적공제기중진행주동간우보상，제고계통공제성능。이론분석표명，본문소제출적액압위치사복계통수출반궤공제기능구보증폐배계통적소유신호유계，이급보증예정적순태화은태근종성능，당계통불존재미지간우시가사계통획득점근근종성능。유방진결과가견，계통근종오차최대약위0．03mm，상대근종오차약위0．02％，증명료소제산법적유효성。
For single‐rod cylinder position servo systems with unmeasurable states ,an output feedback control algorithm based on the extended state observer and a robust controller is proposed .The extended state observer is designed to estimate not only the unmeasurable system states ,but also the matched unknown disturbances and then compensate them in a feedback way .Further‐more ,theoretical analysis shows that the proposed controller can guarantee that all signals of the closed‐loop system are bounded , and a prescribed tracking transient performance and final tracking accuracy are obtained while achieving asymptotic tracking per‐formance in the absence of unknown disturbances .Simulation results show that the maximum tracking error is about 0 .03 mm and relative tracking error about 0 .02% ,which demonstrates the effectiveness of the proposed algorithm .