基于神经元的电液伺服系统同步控制
|
摘要
为探讨电液伺服系统的同步控制方法,以一个四液压缸大型平台电液伺服同步控制系统为对象,采用实验数据辨识4个液压缸的数学模型,对神经元自适应控制器用于同步控制进行了研究和改进,提出了虚拟主动缸和混合同步神经元控制结构.仿真结果表明:采用虚拟主动缸的同步效果好,最大同步误差为0.2606 mm,但需要建立1个液压缸的数学模型;采用混合同步神经元控制结构,不需要建立数学模型,可通过调节参数控制同步误差,较好地实现同步控制,3和8Hz正弦信号输入时最大同步误差分别为0.4313和0.3825 mm.
In order to probe into the synchronization control of an electro-hydraulic servo system,a large platform with four hydraulic cylinders was taken as the research object,and the four hydraulic cylinders were identified mathematically with experiment data,and the adaptive neuron technique was employed to realize the synchronization control.Two strategies of virtual master cylinder and hybrid neural synchronization control were proposed.The simulation results show that the strategy of virtual master cylinder can achieve a desirable synchronization performance,the maximum synchronization error is 0.260 6 mm,but it needs to build the mathematical model of one hydraulic cylinder.The strategy of hybrid neural synchronization control does not need to build the mathematical model and can achieve a relative good synchronization control performance by adjusting parameters to minimize synchronization error,and the maximum synchronization error is 0.431 3 and 0.382 5 mm respectively under the sinusoidal input signals of 3 and 8 Hz.
In order to probe into the synchronization control of an electro-hydraulic servo system,a large platform with four hydraulic cylinders was taken as the research object,and the four hydraulic cylinders were identified mathematically with experiment data,and the adaptive neuron technique was employed to realize the synchronization control.Two strategies of virtual master cylinder and hybrid neural synchronization control were proposed.The simulation results show that the strategy of virtual master cylinder can achieve a desirable synchronization performance,the maximum synchronization error is 0.260 6 mm,but it needs to build the mathematical model of one hydraulic cylinder.The strategy of hybrid neural synchronization control does not need to build the mathematical model and can achieve a relative good synchronization control performance by adjusting parameters to minimize synchronization error,and the maximum synchronization error is 0.431 3 and 0.382 5 mm respectively under the sinusoidal input signals of 3 and 8 Hz.
引文
[1]倪敬,项占琴,潘晓弘,等.多缸同步提升电液系统建模和控制[J].机械工程学报,2006,42(11):82-87.NI Jing,XIANG Zhanqin,PAN Xiaohong,et al,Motion synchronization modeling and control for multi-cylinder electro-hydraulic elevating system[J].ChineseJournal of Mechanical Engineering,2006,42(11):82-87.
[2]金鑫,张轲,石忠贤,等.大型船舶桨舵安装平台同步控制[J].造船技术,2008(1):36-38.JIN Xin,ZHANG Ke,SHI Zhongxian,et al.Synchronization control on installation platform forpropellor&rudder of large ship[J].MarineTechnology,2008(1):36-38.
[3]李长春,孟亚东,刘晓东,等.电液伺服系统的同步控制研究[J].兵工学报,2007,28(6):765-768.LI Changchun,MENG Yadong,LIU Xiaodong,et al.Motion synchronization of electro-hydraulic servosystem[J].Acta Armamentarii,2007,28(6):765-768.
[4]NICOLAE V,DANIELA V,CONSTANTIN C,et al.Digtal control systems for synchronizing hydraulic servocyliders[C]∥The 6th International Conference onHydraulic Machinery and Hydrodynamics.Timisoara:Scientific Bulletin of the Politehnica University ofTimisoara Transactions on Mechanics,2004:411-416.
[5]SUN Hong,GEORGE T,CHIU C.Motionsynchronization for multi-cylinder electro-hydraulicystem[C]∥2001 IEEE/ASME International Conferenceon Advanced Intelligent Mechatronics Proceedings.Como:IEEE,2001:636-641.
[6]陈静,刘强,齐畅.基于自适应和模糊控制的新型XY平台同步控制研究[J].系统仿真学报,2008,20(6):3212-3215.CHEN Jing,LIU Qiang,QI Chang.Research onsynchronous control of novel XY-table based on adaptiveand fuzzy control methods[J].Journal of SystemSimulation,2008,20(6):3212-3215.
[7]RATIU C I,UCENIC C I.Adaptive control with fuzzylogic solution for servo hydraulic linear axis[C]∥Proceedings of the 9th WSEAS International Conferenceon Fuzzy Systems.[S.l.]:WSEAS,2008:232-238.
[8]游张平,彭英,李万莉,等.连续墙液压抓斗起重机双主卷扬同步控制[J].同济大学学报:自然科学版,2010,38(11):1635-1640.YOU Zhangping,PENG Ying,LI Wanli,et al.Adaptive synchronization control of diaphragm wall grabcrane with double main hoist[J].Journal of TongjiUniversity:Natural Science,2010,38(11):1635-1640.
[9]李向阳,周恩涛,林君哲,等.四缸同步液压控制系统的研究[J].机床与液压,2010,38(10):28-30.LI Xiangyang,ZHOU Entao,LIN Junzhe,et al.Research on hydraulic synchronization control of four-cylinder systems[J].Machine Tool&Hydraulics,2010,38(10):28-30.
[10]胡国良,刘乐平,龚国芳,等.盾构推进系统同步控制仿真与试验研究[J].中国机械工程,2008,19(10):1197-1201.HU Guoliang,LIU Leping,GONG Guofang,et al.Simulation and experimental analyses ofsynchronization control for shield thrust system[J].China Mechanical Engineering,2008,19(10):1197-1201.
[11]管力明,林剑.无轴单张纸输纸机的同步控制[J].控制理论与应用,2009,26(5):573-577.GUAN Liming,LIN Jian.Synchronization control ofsheet feeding machine of shaft-less drives[J].ControlTheory&Applications,2009,26(5):573-577.
[12]汪木兰,张崇巍,刘坤.基于RBF辨识的神经元PID直线伺服控制[J].计算机仿真,2007,24(11):147-150.WANG Mulan,ZHANG Chongwei,LIU Kun.NeuronPID optimal control for linear servo based on RBFneural network identification[J].ComputerSimulation,2007,24(11):147-150.
[13]刘金琨.先进PID控制MATLAB仿真[M].2版.北京:电子工业出版社,2007:153-154,178.
[14]江小霞.三向地震模拟平台控制系统的研究[J].西安交通大学学报,2009,43(10):16-21.JIANG Xiaoxia.Control system of three-directionearthquake simulation plantform[J].Journal of XianJiaotong University,2009,43(10):16-21.
[15]吕云嵩.阀控非对称缸频域建模[J].机械工程学报,2007,43(9):122-126.LYunsong.Modeling in frequency domain for valvecontrolled asymmetric hydraulic cylinders[J].ChineseJournal of Mechanical Engineering,2007,43(9):122-126.
[16]王月明,张卫华.神经网络在车辆半主动控制中的应用[J].西南交通大学学报,2002,37(5):575-578.WANG Yueming,ZHANG Weihua.Application ofneural networks in control of semi-active vehiclesuspension[J].Journal Southwest Jiaotong University,2002,37(5):575-578.
[2]金鑫,张轲,石忠贤,等.大型船舶桨舵安装平台同步控制[J].造船技术,2008(1):36-38.JIN Xin,ZHANG Ke,SHI Zhongxian,et al.Synchronization control on installation platform forpropellor&rudder of large ship[J].MarineTechnology,2008(1):36-38.
[3]李长春,孟亚东,刘晓东,等.电液伺服系统的同步控制研究[J].兵工学报,2007,28(6):765-768.LI Changchun,MENG Yadong,LIU Xiaodong,et al.Motion synchronization of electro-hydraulic servosystem[J].Acta Armamentarii,2007,28(6):765-768.
[4]NICOLAE V,DANIELA V,CONSTANTIN C,et al.Digtal control systems for synchronizing hydraulic servocyliders[C]∥The 6th International Conference onHydraulic Machinery and Hydrodynamics.Timisoara:Scientific Bulletin of the Politehnica University ofTimisoara Transactions on Mechanics,2004:411-416.
[5]SUN Hong,GEORGE T,CHIU C.Motionsynchronization for multi-cylinder electro-hydraulicystem[C]∥2001 IEEE/ASME International Conferenceon Advanced Intelligent Mechatronics Proceedings.Como:IEEE,2001:636-641.
[6]陈静,刘强,齐畅.基于自适应和模糊控制的新型XY平台同步控制研究[J].系统仿真学报,2008,20(6):3212-3215.CHEN Jing,LIU Qiang,QI Chang.Research onsynchronous control of novel XY-table based on adaptiveand fuzzy control methods[J].Journal of SystemSimulation,2008,20(6):3212-3215.
[7]RATIU C I,UCENIC C I.Adaptive control with fuzzylogic solution for servo hydraulic linear axis[C]∥Proceedings of the 9th WSEAS International Conferenceon Fuzzy Systems.[S.l.]:WSEAS,2008:232-238.
[8]游张平,彭英,李万莉,等.连续墙液压抓斗起重机双主卷扬同步控制[J].同济大学学报:自然科学版,2010,38(11):1635-1640.YOU Zhangping,PENG Ying,LI Wanli,et al.Adaptive synchronization control of diaphragm wall grabcrane with double main hoist[J].Journal of TongjiUniversity:Natural Science,2010,38(11):1635-1640.
[9]李向阳,周恩涛,林君哲,等.四缸同步液压控制系统的研究[J].机床与液压,2010,38(10):28-30.LI Xiangyang,ZHOU Entao,LIN Junzhe,et al.Research on hydraulic synchronization control of four-cylinder systems[J].Machine Tool&Hydraulics,2010,38(10):28-30.
[10]胡国良,刘乐平,龚国芳,等.盾构推进系统同步控制仿真与试验研究[J].中国机械工程,2008,19(10):1197-1201.HU Guoliang,LIU Leping,GONG Guofang,et al.Simulation and experimental analyses ofsynchronization control for shield thrust system[J].China Mechanical Engineering,2008,19(10):1197-1201.
[11]管力明,林剑.无轴单张纸输纸机的同步控制[J].控制理论与应用,2009,26(5):573-577.GUAN Liming,LIN Jian.Synchronization control ofsheet feeding machine of shaft-less drives[J].ControlTheory&Applications,2009,26(5):573-577.
[12]汪木兰,张崇巍,刘坤.基于RBF辨识的神经元PID直线伺服控制[J].计算机仿真,2007,24(11):147-150.WANG Mulan,ZHANG Chongwei,LIU Kun.NeuronPID optimal control for linear servo based on RBFneural network identification[J].ComputerSimulation,2007,24(11):147-150.
[13]刘金琨.先进PID控制MATLAB仿真[M].2版.北京:电子工业出版社,2007:153-154,178.
[14]江小霞.三向地震模拟平台控制系统的研究[J].西安交通大学学报,2009,43(10):16-21.JIANG Xiaoxia.Control system of three-directionearthquake simulation plantform[J].Journal of XianJiaotong University,2009,43(10):16-21.
[15]吕云嵩.阀控非对称缸频域建模[J].机械工程学报,2007,43(9):122-126.LYunsong.Modeling in frequency domain for valvecontrolled asymmetric hydraulic cylinders[J].ChineseJournal of Mechanical Engineering,2007,43(9):122-126.
[16]王月明,张卫华.神经网络在车辆半主动控制中的应用[J].西南交通大学学报,2002,37(5):575-578.WANG Yueming,ZHANG Weihua.Application ofneural networks in control of semi-active vehiclesuspension[J].Journal Southwest Jiaotong University,2002,37(5):575-578.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心