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针对高空大气压力模拟系统对伺服装置泄漏敏感且充放气非对称性强的特点,提出采用一种简单、便于工程应用的伺服装置泄漏模型,并基于自适应鲁棒控制原理设计了控制器.自适应鲁棒控制器通过泄漏系数在线辨识减小参数不确定性对控制精度的影响,利用非连续参数映射的方法保证预估参数在一定范围,并基于李雅普诺夫稳定性理论证明了控制系统的渐进稳定性.实验结果表明:所设计的控制器可以获得不同压力点的泄漏系数并消除充放气非对称性的影响,提高系统控制精度和响应速度.
Aiming at the characteristics of high altitude atmospheric pressure simulation system being sensitive to leakage of servo device and strong asymmetry of charge and discharge, a simple and easy-to-use servo leakage model is proposed and the controller is designed based on adaptive robust control theory. The adaptive robust controller minimizes the influence of parameter uncertainty on the control accuracy through on-line identification of leakage coefficients. The discontinuous parameter mapping method is used to ensure the estimated parameters are in a certain range. Based on the Lyapunov stability theory, the adaptive robust controller proves that the control system The experimental results show that the designed controller can obtain the leakage coefficient at different pressure points and eliminate the asymmetry of the charge and discharge gas and improve the control accuracy and response speed of the system.