关键词: 控制科学与技术, 滑模控制, 模糊控制, 液压起竖系统, 非线性, 遗传算法, 鲁棒性

Abstract: The large hydraulic erecting system has strong nonlinearities and uncertainties due to heavy external load, variable circumstance, oil leakage, oil viscousness and external disturbance. All of these lead to the degradation of control performance in position tracking control of erecting process. An adaptive fuzzy sliding mode controller is designed to overcome these problems. A fuzzy system is developed to approximate the equivalent control of the sliding mode controller, and an adaptive law is presented by Lyapunov stability analysis method. However, the adaptive parameters cannot be precisely confirmed. So the genetic algorithm is applied to optimize the adaptive parameters. Simulation results show that the proposed control method has good robustness and tracking performance to improve the stability of the erecting process.

Key words: control science and technology, sliding mode control, fuzzy control, hydraulic erecting system, nonlinearity, genetic algorithm, robustness