魏琼, 周刚, 胡新宇.电液伺服系统力轨迹反馈线性化滑模跟踪控制研究[J].河南理工大学学报（自然科学版）,2023,42(2):108-113.

WEI Q, ZHOU G, HU X Y.Research on force trajectory feedback linearization sliding mode tracking control of electro hydraulic servo system[J].Journal of Henan Polytechnic University(Natural Science) ,2023,42(2):108-113.

电液伺服系统力轨迹反馈线性化滑模跟踪控制研究

魏琼, 周刚, 胡新宇

湖北工业大学 机械工程学院，湖北 武汉 430068

摘要:针对电液伺服系统执行器的负载、液压油黏度和系统压力等发生变化时，对电液力控制系统的跟踪性能会造成影响，且传统的滑模控制器在跟踪电液力轨迹时容易出现振颤现象等问题，设计一种反馈线性化滑模控制器，用于对电液伺服系统的力轨迹进行精确跟踪控制研究。根据液压流体的作用原理，建立阀的流量数学模型和液压缸的数学模型。在负载的力作用下，建立液压缸与负载力平衡的数学模型，将设计的反馈线性化滑模控制方法和传统的PID控制方法在MATLAB/Simulink平台进行建模仿真实验对比。结果表明，在追踪电液力轨迹时，相比PID控制方法，反馈线性化滑模控制器能够显著提高电液伺服系统的力轨迹跟踪精度。

关键词:电液伺服系统;力轨迹;液压流体;滑模控制

doi:10.16186/j.cnki.1673-9787.2021070070

基金项目:国家自然科学基金资助项目（51905159）

收稿日期:2021/07/19

修回日期:2021/12/10

出版日期:2023/03/25

Research on force trajectory feedback linearization sliding mode tracking control of electro hydraulic servo system

WEI Qiong, ZHOU Gang, HU Xinyu

School of mechanical engineering，Hubei University of Technology，Wuhan 430068，Hubei，China

Abstract:When the load of the actuator，the viscosity of the hydraulic oil and the system pressure of the electro-hydraulic servo system change，the tracking performance of the electro-hydraulic control system would be affected，and the traditional sliding mode controller is prone to chatter when tracking the electro-hydraulic trajectory，a feedback linearization sliding mode controller was designed to accurately track the force trajectory of the electro-hydraulic servo system.According to the action principle of hydraulic fluid，the mathematical model of flow rate of valve and the mathematical model of hydraulic cylinder were established.Under the action of load force，the mathematical model of hydraulic cylinder and load force balance was established.The feedback linearization sliding mode control method designed in this paper was compared with the traditional PID control method in the platform of MATLAB/Simulink.The simulation results showed that the feedback linearization sliding mode controller designed in this paper was better than the PID control method in tracking the electro-hydraulic trajectory，and this method could significantly improve the force trajectory tracking accuracy of the electro-hydraulic servo system.

Key words:electro hydraulic servo system;force trajectory;hydraulic fluid;sliding mode control

014_2021070070_魏琼_H.pdf