Study on Robust Adaptive Control of Coal Machine Height Adjustment Hydraulic System Based on Expectation Compensation

针对煤机调高液压系统存在的参数摄动和未知的外部扰动引起的跟踪精度不足的问题，本文基于阀控非对称液压缸系统，建立其状态方程，设计了基于期望补偿的鲁棒自适应控制器。在控制器中基于模型补偿的设计部分，采用位移和速度信号的期望值来代替实际反馈值，以降低测量噪声对控制器性能的影响。此外，针对系统的参数摄动和扰动问题，利用Lyapunov渐近稳定理论推导参数自适应律以获得不确定参数实时估计值，同时也将不匹配扰动作为不确定参数进行估计，最后，通过仿真验证了控制器的有效性。Aiming at the problem of insufficient tracking accuracy caused by parameter uptake and unknown external perturbations in the hydraulic system of coal machine height adjustment, this article is based on the valve-controlled asymmetric hydraulic cylinder system, establishes its state equations, and designs a robust adaptive controller based on expectation compensation. In the model compensation-based design part of the controller, the expectation values of the displacement and velocity signals are used instead of the actual feedback values to reduce the influence of measurement noise on the controller performance. In addition, for the problem of parameter uptake and the existence of mismatched perturbations in the system, the Lyapunov asymptotic stability theory is utilized to derive the parameter adaptive law in order to obtain the real-time estimation of the uncertain parameters, and the mismatched perturbations are also estimated as the uncertain parameters, and finally, the validity of the controller is verified by simulation.