基于有限时间观测器的电液伺服系统滑模控制OA

An adaptive super-twisting sliding mode control method based on finite-time generalized extended state observer is proposed for an electro-hydraulic position servo system.Firstly,the finite-time generalized extended state observer is designed to estimate and compensate for the total disturbance of the system.Moreover,a super-twisting sliding mode controller is proposed to re-duce the chattering existing in the traditional sliding mode control.In addition,an adaptive gain is introduced to avoid the high-gain feedback which may cause system instability and reduce the conservatism of control gain selection.Then,the finite-time stability of the closed-loop system is analyzed by using Lyapunov theory.Finally,the effectiveness of the proposed method is verified by com-paring the simulation results.