关键词: 电液位置伺服系统, 低频学习, 鲁棒自适应控制, 稳定收敛

Abstract: A kind of low-frequency learning-based robust control strategy is proposed for electro-hydraulic position servo system, in which high-frequency interference and sensor measurement noise lead to the poor convergence and low consistency of traditional adaptive control. The adaptative parameter of electro-hydraulic servo system is modified by designing a low-pass filter, and a new control law, which can filter out the high-frequency components in the adaptive law, is constructed by the residuals before and after modification. As a result, the steady-state convergence is achieved while the high-frequency oscillation is alleviated. Lyapunov stability theory is utilized to verify the global stability of the closed-loop system. The comparative experimental results show that the proposed method can effectively solve the steady-state convergence of the parameter of electro-hydraulic position servo system under the action of high-frequency dynamics and sensor measurement noise, and retain the asymptotic stability of system dynamic error while achieving satisfactory tracking performance. Key

Key words: electro-hydraulicpositionservosystem, low-frequencylearning, robustadaptivecontrol, stableconvergence