力干扰下的电液位置系统自适应鲁棒控制
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摘要
在建立整个电液位置伺服系统的非线性方程中,由于未考虑到外界的未知干扰和建模过程中参数的变化,即液压缸黏性阻尼系数、液压缸总泄漏系数、液压油弹性体积模量会随外负载、工作温度等不同条件发生变化,模型的准确性会受到影响。通过自适应的方法让相应的参数实时变化,提高整个系统的稳定性。通过干扰观测器补偿外界的未知状况,从而提高整个系统的鲁棒性。通过对设计的控制器进行试验,实现对干扰的抑制。试验结果显示,该控制器对电液位置伺服系统的鲁棒性有明显的提高。
In establishment of nonlinear equation of electro-hydraulic position servo system, since unknown disturbance of outside world and change of physical parameters during a modeling process,i. e. viscous damping coefficient of hydraulic cylinder,total leakage coefficient of hydraulic cylinder,and elastic bulk modulus of hydraulic oil will change with different conditions such as external load and operating temperature,the accuracy of model will be affected. The stability of the whole system is improved by an adaptive method to make the corresponding parameters change in real time,and a disturbance observer is used to compensate some unknown conditions of outside world to improve the robustness of the system. Through experiment of the designed controller,we simulate the position adaptive robust control under strong interference to suppress the interference. The experiments show that the controller can effectively improve the robustness of electro-hydraulic position servo system.
In establishment of nonlinear equation of electro-hydraulic position servo system, since unknown disturbance of outside world and change of physical parameters during a modeling process,i. e. viscous damping coefficient of hydraulic cylinder,total leakage coefficient of hydraulic cylinder,and elastic bulk modulus of hydraulic oil will change with different conditions such as external load and operating temperature,the accuracy of model will be affected. The stability of the whole system is improved by an adaptive method to make the corresponding parameters change in real time,and a disturbance observer is used to compensate some unknown conditions of outside world to improve the robustness of the system. Through experiment of the designed controller,we simulate the position adaptive robust control under strong interference to suppress the interference. The experiments show that the controller can effectively improve the robustness of electro-hydraulic position servo system.
引文
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[14]郝小星,王旭平.基于滑模自适应控制的电液位置伺服系统低速性能改善[J].液压与气动,2015,(1):39-43.HAO Xiaoxing,WANG Xuping.The Low Speed Performance Improvements of Electro-hydraulic Position Servo System Based on Sliding Mode Adaptive Control[J].Chinese Hydraulics&Pneumatics,2015,(1):39-43.
[15]徐巧宁,喻峰,周华,等.基于鲁棒观测器的电液伺服系统传感器故障检测与隔离[J].华南理工大学学报(自然科学版),2014,42(11):31-39.XU Qiaoning,YU Feng,ZHOU Hua,et al.Sensor Fault Detection and Isolation for an Electro-hydraulic Servo System Based on Robust Observer[J].Journal of South China University of Technology(Natural Science Edition),2014,42(11):31-39.
[2]赵锦荣,胡学武,盛小明.基于压力反馈的上下料机械手电液伺服位置系统[J].液压与气动,2011,(12):47-49.ZHAO Jinrong,HU Xuewu,SHENG Xiaoming.The Electrohydraulic Servo Position System of Loading and Unloading Robot Based on Pressure Feedback[J].Chinese Hydraulics&Pneumatics,2011,(12):47-49.
[3]吕晓娟.基于改进型DOB的电液伺服力控制技术研究[J].现代电子技术,2016,39(3):159-162.LV Xiaojuan.Research on Electro-hydraulic Servo Force Control Technology Based on Improved DOB[J].Modern Electronics Technique,2016,39(3):159-162.
[4]李世振.重型海工装备升沉补偿电液控制系统研究[D].杭州:浙江大学,2016.LI Shizhen.Research on the Electro-hydraulic System of Heave Compensation in Marine Operations[D].Hangzhou:Zhejiang University,2016.
[5]罗进生,袁喜林,赵凯,等.模糊PID控制在伺服系统中的应用[J].机械设计与制造,2013,(5):229-231.LUO Jinsheng,YUAN Xilin,ZHAO Kai,et al.Application of Fuzzy-PID Control in the Servo System of CNC Machine[J].Machinery Design&Manufacture,2013,(5):229-231.
[6]郭庆.电液伺服非线性控制技术研究进展综述[J].液压与气动,2018,(3):1-9.GUO Qing.Development of Nonlinear Control Technology for Electro-hydraulic Servo System[J].Chinese Hydraulics&Pneumatics,2018,(3):1-9.
[7]GUAN Cheng,ZHU Shan'an.Derivative and Integral Sliding Mode Adaptive Control for a Class of Nonlinear System and Its Application to an Electro-hydraulic Servo System[J].Proceedings of the CSEE,2005,25(4):103-108.
[8]乔继红.带有多非线性干扰观测器的电液伺服反演控制[J].计算机仿真,2015,32(4):316-319,354.QIAO Jihong.Backstepping Control for Electro-hydraulic Servo System with Nonlinear Disturbance Observers[J].Computer Simulation,2015,32(4):316-319,354.
[9]YAO J Y,JIAO Z X,MA D W.High Accuracy Tracking Control of Hydraulic Rotary Actuators with Modelling Uncertainties[J].IEEE/ASME Transactions on Mechatronics,2014,19(2):633-641.
[10]张振,李海军,曲晓燕,等.电液位置伺服系统鲁棒反馈线性化控制[J].机床与液压,2016,44(23):148-152.ZHANG Zhen,LI Haijun,QU Xiaoyan,et al.Robust Feedback Linearization Control of Electro-hydraulic Position Servo System[J].Machine Tool&Hydraulics,2016,44(23):148-152.
[11]GARAGIC D,SRINIVASAN K.Application of Nonlinear Adaptive Control Techniques to an Electro Hydraulic Velocity Servo Mechanis[J].IEEE Tran.Control Systems Technology,2004,12(2):303-314.
[12]李建坡,高英杰,黄茹楠,等.基于自抗扰控制器的电液力伺服加载系统[J].液压与气动,2017,(9):24-27.LI Jianpo,GAO Yingjie,HUANG Ru'nan,et al.Electro Hydraulic Servo Loading System Based on Active Disturbance Rejection Controller[J].Chinese Hydraulics&Pneumatics,2017,(9):24-27.
[13]刘龙,姚建勇,胡健,等.基于干扰观测器的电液位置伺服系统跟踪控制[J].兵工学报,2015,(11):2053-2061.LIU Long,YAO Jianyong,HU Jian,et al.Tracking Control for Electro-hydraulic Positioning Servo System Based on Disturbance Observer[J].Acta Armamentarii,2015,(11):2053-2061.
[14]郝小星,王旭平.基于滑模自适应控制的电液位置伺服系统低速性能改善[J].液压与气动,2015,(1):39-43.HAO Xiaoxing,WANG Xuping.The Low Speed Performance Improvements of Electro-hydraulic Position Servo System Based on Sliding Mode Adaptive Control[J].Chinese Hydraulics&Pneumatics,2015,(1):39-43.
[15]徐巧宁,喻峰,周华,等.基于鲁棒观测器的电液伺服系统传感器故障检测与隔离[J].华南理工大学学报(自然科学版),2014,42(11):31-39.XU Qiaoning,YU Feng,ZHOU Hua,et al.Sensor Fault Detection and Isolation for an Electro-hydraulic Servo System Based on Robust Observer[J].Journal of South China University of Technology(Natural Science Edition),2014,42(11):31-39.