基于液压二次调节技术的大惯量回转系统预定性能自适应鲁棒控制研究

Adaptive Robust Control for Predetermined Performance of Large Inertia Slewing System Based on Hydraulic Secondary Regulation Technology

摘要: 将液压二次调节技术应用于大惯量回转系统可以进行制动能量的回收，本文针对基于液压二次调节技术的大惯量回转系统存在的参数不确定性以及未知的外部扰动引起的跟踪精度不足的问题，提出了预定性能自适应鲁棒控制器。将预定性能和自适应鲁棒器相结合，对大惯量回转系统存在的未知参数进行了估计，并使用Lyapunov函数严格保证了整个系统的半全局渐近稳定。仿真结果表明：相同的工况下，与PID以及普通的自适应鲁棒控制相比，本文所设计的控制器可以让大惯量回转系统有更好的跟踪精度和较高的鲁棒性。

Abstract: The application of hydraulic secondary regulation technology in large inertia rotary system can re-cover braking energy. In this paper, aiming at the problems of parameter uncertainty and insuffi-cient tracking accuracy caused by unknown external disturbance in large inertia rotary system based on hydraulic secondary regulation technology, an adaptive robust controller with predeter-mined performance is proposed. By combining the predetermined performance with the adaptive robustness, the unknown parameters of the large inertia rotary system are estimated, and the Lyapunov function is used to guarantee the global stability of the whole closed-loop system. The simulation results show that compared with PID and ordinary adaptive robust control, the control-ler designed in this paper can make the large inertia rotary system have better tracking accuracy and higher robustness under the same working conditions.