Backstepping Adaptive Controller of Electro-Hydraulic Servo System of Continuous Rotary Motor

Backstepping Adaptive Controller of Electro-

Hydraulic Servo System of Continuous Rotary

Motor

Xiao-Jing Wang1，Chang-Fu Xian1，Cao-Lei Wan1，Jin-Bao Zhao2，Li-Wei Xiu1，An-Cai Yu3

【摘要】Abstract:In order to consider the influence of the continuous rotary motor electro-hydraulic servo system parameters change on its performance，the design method of backstepping adaptive controller is put forward.The mathematical model of electro-hydraulic servo system of continuous rotary motor is established，and the whole system is decomposed into several lower order subsystems，and the virtual control signal is designed for each subsystem from the final subsystem with motor angular displacement to the subsystem with system control input voltage.Based on Lyapunov method and the backstepping theory，an adaptive backstepping controller is designed with the changed parameters adaptive law.It is proved that the system reaches the global asymptotic stability，and the system tracking error asymptotically tends to zero.The simulation results show that the backstepping adaptive controller based on the adaptive law of the changed parameters can improve the performance of continuous rotary motor，and the proposed control strategy is feasible.

【期刊名称】哈尔滨工业大学学报（英文版）