[1]胡 苏.电液伺服机械手轨迹跟踪自适应模糊滑模抗扰控制[J].机械与电子,2025,(11):61-67.
　HU Su.Adaptive Fuzzy Sliding Mode Disturbance Rejection Control for Trajectory Tracking of Electro-hydraulic Servo Manipulator[J].Machinery & Electronics,2025,(11):61-67.
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电液伺服机械手轨迹跟踪自适应模糊滑模抗扰控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年11期
页码:
61-67
栏目:
智能制造
出版日期:
2025-11-24

文章信息/Info

Title:
Adaptive Fuzzy Sliding Mode Disturbance Rejection Control for Trajectory Tracking of Electro-hydraulic Servo Manipulator
文章编号:
1001-2257 ( 2025 ) 11-0061-07
作者:
胡 苏
中国通用技术集团机床研究院北京分院,北京 101312
Author(s):
HU Su
( Beijing Branch of China General Technology Group Machine Tool Research Institute , Beijing 101312 , China )
关键词:
电液伺服机械手; 轨迹跟踪; 模糊控制; 模糊滑模抗扰控制器
Keywords:
electro-hydraulic servo manipulator ;  trajectory tracking ;  fuzzy control ;  fuzzy sliding mode disturbance rejection controller
分类号:
TP273
文献标志码:
A
摘要:
为了应对电液伺服系统因强非线性、参数时变及外界干扰导致传统控制方法在滑模切换面附近产生高频抖振的问题,提出一种自适应模糊滑模抗扰控制方法。通过对电液伺服机械手展开建模分析,推导出以输入电流为控制输入的完整伺服阀传递函数,为后续高精度控制算法设计提供了系统动态特性的数学基础。基于改进双幂次趋近律设计滑模抗扰控制器,以伺服阀传递函数为输入,通过优化典型趋近律实现双幂次趋近律的改进,有效抑制外界干扰引起的抖振现象;通过在滑模抗扰控制过程中引入模糊控制,设计了自适应模糊滑模抗扰控制器,利用模糊规则对控制器输入变量进行动态调节,实现了对电液伺服机械手轨迹跟踪的高精度控制。实验结果表明,所提方法将轨迹跟踪误差控制在 ±0.05 mm 范围内,速度跟踪误差降低至 ±0.02 m / s ,验证了其在控制稳定性与精度方面的显著优势。
Abstract:
In order to address the problem of high-frequency chattering near the sliding mode switching surface caused by strong nonlinearity , time varying parameters , and external interference in traditional control methods for electro hydraulic servo systems , an adaptive fuzzy sliding mode disturbance rejection control method is proposed.By modeling and analyzing the electro hydraulic servo manipulator , the complete servo valve transfer function with input current as input is derived , providing a mathematical basis for the dynamic characteristics of the system for subsequent high-precision control algorithm design.Based on improving the double power approaching law , a sliding mode disturbance rejection controller is designed , which takes the transfer function of the servo valve as the input and improves the double power approaching law by optimizing the typical approaching law.The controller effectively suppresses the chattering phenomenon caused by external interference and improves the control smoothness ; furthermore , by introducing fuzzy control into the sliding mode disturbance rejection control process , an adaptive fuzzy sliding mode disturbance rejection controller is designed.Fuzzy rules are used to dynamically adjust the input variables of the controller , achieving high-precision control of the trajectory tracking of the electro hydraulic servo manipulator.The experimental results show that the proposed method limits the trajectory tracking error within ±0.05 mm and reduces the speed tracking error to ±0.02 m / s , demonstrating its significant advantages in control stability and precision.

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备注/Memo

备注/Memo:
收稿日期: 2025-06-16
基金项目:通用技术集团机床工程研究院有限公司科技项目( 2023ZY01059-002 )
作者简介:胡 苏 ( 1979- ),女,重庆人,硕士,高级工程师,研究方向为控制工程及电子技术。
更新日期/Last Update: 2025-12-15