电液伺服系统的可拓控制策略及实验研究
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摘要
目前，电液伺服系统已被广泛地应用于航空航天、船舶、冶金等重要领域。由于传统的电液伺服理论中建立的数学模型是在系统工作点附近利用小偏差理论进行线性化得到的线性模型，而系统工作点在实际工作时是不断变化的，从而使得系统的线性化数学模型适应性较差。基于知识和不依赖于精确数学模型的智能控制给这类问题的解决带来新的思路。基于物元分析和可拓学的可拓控制就是智能控制的一个新分支。可拓学以客观世界中的矛盾问题为研究对象，提出了矛盾可以化为相容的基本思想。本研究就是以此思想为基础，提出了可拓控制算法，对电液伺服系统的可拓控制问题进行了深入的研究。
本文主要完成了以下工作:
查阅了大量关于可拓学的著作和论文，将可拓学的理论和方法用于电液伺服控制领域，提出了电液伺服系统的可拓控制算法，对可拓控制器的结构和具体实现进行了深入研究，探讨了上层可拓控制器的实现问题，改进了基本可拓控制器的控制算法，并用这类可拓控制器对电液伺服控制系统做了仿真研究和实验研究，研究结果表明可拓控制器具有良好的控制品质，验证了可拓控制在电液伺服系统应用中的可行性与优越性。
对实验室建造的热轧卷取机系统的半物理模型建立了数学模型，并在此基础上建立了双闭环控制系统的仿真框图，应用Simulink软件包建立了电液伺服控制系统的仿真模型，分别采用不同的控制策略对控制系统进行了性能对比仿真研究。
用LabVIEW6i图形化软件编程实现了对电液伺服控制系统的计算机控制。分别采用本文所提出的可拓控制策略和PID控制策略，在实验室建造的热轧卷取机踏步控制系统半物理模型上进行了实验研究。仿真和实验结果均证明，采用本文提出的可拓控制后，助卷辊能够更快速、平稳地实现自动台阶回避。
In recent years, electro-hydraulic servo system has widely been applied to aviation, spaceflight, shipping and metallurgy fields etc. The adaptability of the system is not very good, because the maths model of the typical electro-hydraulic servo system is always the linear model gained from small error theory. The intelligent control that is based on knowledge and not reliant to the precise maths model gives new ideas for solving these problems. Extension control which is based on matter element and extenics is a new branch of the artificial intelligent control. Extenics aims at researching the inconsistent problems of the objective world. It brings forward the basic idea on transforming inconsistency to consistency. This paper, based on this idea and integrating related literature and information, applies extension theories and methods to control field and brings forward the arithmetic of extension control to control electro-hydraulic servo system.
The following will introduce the main work finished:
After looking up a lot of bookings and papers about extenics, I apply the theories of extenics to control field and research the arithmetic of extension control. Implementation of the upper extension controller and improvement of the control algorithm in the basic controller are developed. Results of simulation and experiment on the physical simulation model built in laboratory show that the extension control is of good performance and prove that the extension control is feasible and superior in the electro-hydraulic servo system.
The mathematical model of electro-hydraulic servo system is given. The simulation structure of control system with double closed loops is built. The Simulink structure of electro-hydraulic servo system is built. Making use of different control methods, a series of performance contrast simulation
experiments are conducted.
The computer control of electro-hydraulic servo system is realized by using LabVIEW6i. Making use of extension control and PID control, many experiments are conducted on the physical simulation model in the laboratory. Results of simulation and experiment prove that after we use the composite control method, unit roller can evite the step faster and more placidly.
本文主要完成了以下工作:
查阅了大量关于可拓学的著作和论文，将可拓学的理论和方法用于电液伺服控制领域，提出了电液伺服系统的可拓控制算法，对可拓控制器的结构和具体实现进行了深入研究，探讨了上层可拓控制器的实现问题，改进了基本可拓控制器的控制算法，并用这类可拓控制器对电液伺服控制系统做了仿真研究和实验研究，研究结果表明可拓控制器具有良好的控制品质，验证了可拓控制在电液伺服系统应用中的可行性与优越性。
对实验室建造的热轧卷取机系统的半物理模型建立了数学模型，并在此基础上建立了双闭环控制系统的仿真框图，应用Simulink软件包建立了电液伺服控制系统的仿真模型，分别采用不同的控制策略对控制系统进行了性能对比仿真研究。
用LabVIEW6i图形化软件编程实现了对电液伺服控制系统的计算机控制。分别采用本文所提出的可拓控制策略和PID控制策略，在实验室建造的热轧卷取机踏步控制系统半物理模型上进行了实验研究。仿真和实验结果均证明，采用本文提出的可拓控制后，助卷辊能够更快速、平稳地实现自动台阶回避。
In recent years, electro-hydraulic servo system has widely been applied to aviation, spaceflight, shipping and metallurgy fields etc. The adaptability of the system is not very good, because the maths model of the typical electro-hydraulic servo system is always the linear model gained from small error theory. The intelligent control that is based on knowledge and not reliant to the precise maths model gives new ideas for solving these problems. Extension control which is based on matter element and extenics is a new branch of the artificial intelligent control. Extenics aims at researching the inconsistent problems of the objective world. It brings forward the basic idea on transforming inconsistency to consistency. This paper, based on this idea and integrating related literature and information, applies extension theories and methods to control field and brings forward the arithmetic of extension control to control electro-hydraulic servo system.
The following will introduce the main work finished:
After looking up a lot of bookings and papers about extenics, I apply the theories of extenics to control field and research the arithmetic of extension control. Implementation of the upper extension controller and improvement of the control algorithm in the basic controller are developed. Results of simulation and experiment on the physical simulation model built in laboratory show that the extension control is of good performance and prove that the extension control is feasible and superior in the electro-hydraulic servo system.
The mathematical model of electro-hydraulic servo system is given. The simulation structure of control system with double closed loops is built. The Simulink structure of electro-hydraulic servo system is built. Making use of different control methods, a series of performance contrast simulation
experiments are conducted.
The computer control of electro-hydraulic servo system is realized by using LabVIEW6i. Making use of extension control and PID control, many experiments are conducted on the physical simulation model in the laboratory. Results of simulation and experiment prove that after we use the composite control method, unit roller can evite the step faster and more placidly.
引文
W. X. Shi. How to Solve The Uncertainty Problems in Hydraulic Servo System. Proceedings of 95 ICEP, Shanghai, China, 1995:1-6
陆元章. 液压系统的建模与分析. 上海:上海交通大学出版社, 1989:30-39
I. D. 朗道著. 自适应控制－模型参考方法. 吴百凡译. 北京:国防工业出版社, 1985:58-60
C. J. 哈里斯编著. 自校正和自适应控制－理论与应用. 李清泉译. 北京:科学出版社, 1986:24-26
刘白雁. 模型跟随自适应控制理论的研究及其应用. [西安交通大学博士学位论文]. 1990:22-34
丁崇生, 刘白雁, 史维祥. 模型跟随自适应控制新方法的理论研究及工程应用. 西安交通大学学报, 1990, (4):79-85
丁崇生, 何晓佳, 王大庆, 等. 高精度高响应电液伺服系统自适应控制的工程实现. 机床与液压, 1999, (2):72-77
Y. F. Xiong, S. LeQuoc and R. M. H. Cheng. Adaptive Control of A Synchronizing Servo System. Proceedings of International Off-Highway and Powerplant Congress and Exposition, Wilwaukee, WI, USA, 1992
M. C. Shih , Y. R. Sheu. Adaptive Position Control of An Electro-hydraulic Servo Cylinder. Vibration, Control Engineering, Engineering for Industry, 1992, 34(3):370-
376
闫桂荣, 田晓耕, 张改慧. 采用MRAC的气—液联合多通道协调加载控制系统的研究. 应用力学学报, 1998, 12(4):39-46
A. Luo, H. Hun. Intelligent Control for Electro-hydraulic Proportional Servo System. Proceedings of the 4th International Conference on Fluid Power Transmission and Control, Hangzhou, China, 1997, (12):246-250
Y. Jen , C. Lee. Robust Speed Control of A Pump Controlled Motor System. IEE Proceeding-D, 1992, 139(6):503-510
H. Zhang, P. N. Nikiforuk & P. R. Ukrainetz. A Neural Network Approach for MIMO Electro-Hydraulic Servo System Control. Proceedings of The 3rd International Conference on Fluid Power Transmission and Control, Shanghai, China, 1999:1102-1022
王孙安, 林廷圻, 史维祥. 液压伺服控制的新发展. 机床与液压, 1991, (1):8-14
汤清明. 高精度超低频电液伺服柱塞缸金属疲劳试验系统. [西安交通大学硕士学位论文]. 1989:38-54
P. M. FitzSimons, J. J. Palazzolo. Part 1:Modeling of A One-Degree-of-Freedom Active Hydraulic Mount. ASME Journal of Dynamic Systems, Measurement, and Control, 2000, 118(3):439-442
P. M. FitzSimons, J. J. Palazzolo. Part 2:Control of A One-Degree-of-Freedom Active Hydraulic Mount. ASME Journal of Dynamic Systems, Measurement, and Control, 1996, 118(3):443-448
D. H. Sha, H. Y. Yang, J. M. Zhang. Research on Discrete Robust Variable Structure Control of Hydraulic Elevator Velocity System. Proceedings of The 4th International Conference on Fluid Power Transmission and Control. Hangzhou, China, 1998:275-
278
T. L. Chern , Y. C. Wu. Design of Integral Variable Structure Controller and Application to Electro-hydraulic Velocity Servo-system. IEE Proceedings-D, 1991, 138(5):439-444
W. M. Huang, Y. Yang and G. F. Xiong. Adaptive Fuzzy Neural Network Control in Hydraulic Servo System. Proceedings of The 4th International Conference on Fluid Power Transmission and Control, Hangzhou, China, 1997:189-193
W. X. Sheng, R. W. Dai, S. A. Wang. Electro-hydraulic Servo Control Based on Neuro-Fuzzy Technique. Proceedings of The 4th International Conference on Fluid Power Transmission and Control, Hangzhou, China, 1998:232-236
王孙安. 大功率液压马达速度伺服系统的控制方法研究. [西安交通大学博士学位论文]. 1989:56-77
王立新. 自适应模糊系统与控制—设计与稳定性分析. 北京:国防工业出版社, 1995:3-6
张乃尧, 金辉. 对稳定的自适应模糊控制方案的研究与改进. 自动化学报, 1997, 23(3):160-166
王占林. 近代液压控制. 北京:机械工业出版社, 1997:3-8
李运华. 近代液压伺服系统控制策略的现状与展望. 液压与气动, 1995:1-6
张显库, 贾欣乐, 王兴成, 等. H∞鲁棒控制理论发展的十年回顾. 控制与决策,
1999:1-6
袁南儿, 王万良, 苏宏业. 计算机新型控制策略及其应用. 北京:清华大学出版社, 1998:89-91
蔡文. 可拓集合和不相容问题[J]. 科学探索学报, 1983, 8(1):36-39
蔡文. 物元模型及其应用. 科学技术文献出版社, 1994:20-28
蔡文. 从物元分析到可拓学(论文集). 北京:科学技术文献出版社, 1995:51-58
蔡文, 杨春燕, 林伟初. 可拓工程方法. 北京:科学出版社, 1997:1-17
蔡文. 可拓论及其应用[J]. 科学通报, 1999, 44(7):673-682
潘东, 金以慧. 可拓控制的探索与研究[J]. 控制理论与应用, 1996, 13(3):305-311
蔡文, 杨春燕, 何斌. 可拓学与人工智能[A]. 中国人工智能进展(2001). 北京:北京邮电大学出版社, 2001,1048-1051
Liu Wei,Ye Jian. Extension information[A]. Proceedings of 96 International Conference On Management Science & Engineering, 1996
Cai Wen. Extension theory and its application[J]. Chinese Science Bulletin, 1999, 44(17):1538-1548
杨春燕, 张拥军. 可拓集合及其应用[J]. 数学的实践与认识, 2002,32(2):301-308
李立希. 可拓知识库系统及其应用[J]. 中国工程科学, 2001, 3(3):61-64
李士勇. 模糊控制, 神经控制和智能控制论[M]. 哈尔滨:哈尔滨工业大学出版社, 1996:588-596
蔡文. 物元分析概要. 人工智能学报, (2) 1983:56-64
阳林, 吴黎明, 黄爱华. 可拓控制的物元模型及其控制算法. 系统工程理论与实践, 2000, 9(6):126-130
Li Jian, Wang Shienyn. Primary Research on Extension Control. Pro. Of International Conference on Information and Systems. AMSE 1991, Hangzhou, China, 1991, 1:392-395
李健, 王行愚. 一类可拓控制器的设计. 全国智能控制和自适应控制理论与应用研讨会论文集, 西安, 1993, 10:90-97
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徐昕, 李涛. MATLAB工具箱应用指南. 北京:电子工业出版社, 2000:21-28
秦玉宪. 控制系统仿真. 北京:北京航空航天大学出版社, 1998:10-56
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攻读硕士学位期间承担的科研任务与主要成果
发表论文如下：
1 姜万录，孙慢，陈南．电液伺服系统的可拓控制策略研究．机床与液压．(录用待发表)．
2 Jiang Wanlu, Sun Man, Liu Jian. Application of Extension Theory to Control Field. Systems Engineering and electronics.（Submitted）．
陆元章. 液压系统的建模与分析. 上海:上海交通大学出版社, 1989:30-39
I. D. 朗道著. 自适应控制－模型参考方法. 吴百凡译. 北京:国防工业出版社, 1985:58-60
C. J. 哈里斯编著. 自校正和自适应控制－理论与应用. 李清泉译. 北京:科学出版社, 1986:24-26
刘白雁. 模型跟随自适应控制理论的研究及其应用. [西安交通大学博士学位论文]. 1990:22-34
丁崇生, 刘白雁, 史维祥. 模型跟随自适应控制新方法的理论研究及工程应用. 西安交通大学学报, 1990, (4):79-85
丁崇生, 何晓佳, 王大庆, 等. 高精度高响应电液伺服系统自适应控制的工程实现. 机床与液压, 1999, (2):72-77
Y. F. Xiong, S. LeQuoc and R. M. H. Cheng. Adaptive Control of A Synchronizing Servo System. Proceedings of International Off-Highway and Powerplant Congress and Exposition, Wilwaukee, WI, USA, 1992
M. C. Shih , Y. R. Sheu. Adaptive Position Control of An Electro-hydraulic Servo Cylinder. Vibration, Control Engineering, Engineering for Industry, 1992, 34(3):370-
376
闫桂荣, 田晓耕, 张改慧. 采用MRAC的气—液联合多通道协调加载控制系统的研究. 应用力学学报, 1998, 12(4):39-46
A. Luo, H. Hun. Intelligent Control for Electro-hydraulic Proportional Servo System. Proceedings of the 4th International Conference on Fluid Power Transmission and Control, Hangzhou, China, 1997, (12):246-250
Y. Jen , C. Lee. Robust Speed Control of A Pump Controlled Motor System. IEE Proceeding-D, 1992, 139(6):503-510
H. Zhang, P. N. Nikiforuk & P. R. Ukrainetz. A Neural Network Approach for MIMO Electro-Hydraulic Servo System Control. Proceedings of The 3rd International Conference on Fluid Power Transmission and Control, Shanghai, China, 1999:1102-1022
王孙安, 林廷圻, 史维祥. 液压伺服控制的新发展. 机床与液压, 1991, (1):8-14
汤清明. 高精度超低频电液伺服柱塞缸金属疲劳试验系统. [西安交通大学硕士学位论文]. 1989:38-54
P. M. FitzSimons, J. J. Palazzolo. Part 1:Modeling of A One-Degree-of-Freedom Active Hydraulic Mount. ASME Journal of Dynamic Systems, Measurement, and Control, 2000, 118(3):439-442
P. M. FitzSimons, J. J. Palazzolo. Part 2:Control of A One-Degree-of-Freedom Active Hydraulic Mount. ASME Journal of Dynamic Systems, Measurement, and Control, 1996, 118(3):443-448
D. H. Sha, H. Y. Yang, J. M. Zhang. Research on Discrete Robust Variable Structure Control of Hydraulic Elevator Velocity System. Proceedings of The 4th International Conference on Fluid Power Transmission and Control. Hangzhou, China, 1998:275-
278
T. L. Chern , Y. C. Wu. Design of Integral Variable Structure Controller and Application to Electro-hydraulic Velocity Servo-system. IEE Proceedings-D, 1991, 138(5):439-444
W. M. Huang, Y. Yang and G. F. Xiong. Adaptive Fuzzy Neural Network Control in Hydraulic Servo System. Proceedings of The 4th International Conference on Fluid Power Transmission and Control, Hangzhou, China, 1997:189-193
W. X. Sheng, R. W. Dai, S. A. Wang. Electro-hydraulic Servo Control Based on Neuro-Fuzzy Technique. Proceedings of The 4th International Conference on Fluid Power Transmission and Control, Hangzhou, China, 1998:232-236
王孙安. 大功率液压马达速度伺服系统的控制方法研究. [西安交通大学博士学位论文]. 1989:56-77
王立新. 自适应模糊系统与控制—设计与稳定性分析. 北京:国防工业出版社, 1995:3-6
张乃尧, 金辉. 对稳定的自适应模糊控制方案的研究与改进. 自动化学报, 1997, 23(3):160-166
王占林. 近代液压控制. 北京:机械工业出版社, 1997:3-8
李运华. 近代液压伺服系统控制策略的现状与展望. 液压与气动, 1995:1-6
张显库, 贾欣乐, 王兴成, 等. H∞鲁棒控制理论发展的十年回顾. 控制与决策,
1999:1-6
袁南儿, 王万良, 苏宏业. 计算机新型控制策略及其应用. 北京:清华大学出版社, 1998:89-91
蔡文. 可拓集合和不相容问题[J]. 科学探索学报, 1983, 8(1):36-39
蔡文. 物元模型及其应用. 科学技术文献出版社, 1994:20-28
蔡文. 从物元分析到可拓学(论文集). 北京:科学技术文献出版社, 1995:51-58
蔡文, 杨春燕, 林伟初. 可拓工程方法. 北京:科学出版社, 1997:1-17
蔡文. 可拓论及其应用[J]. 科学通报, 1999, 44(7):673-682
潘东, 金以慧. 可拓控制的探索与研究[J]. 控制理论与应用, 1996, 13(3):305-311
蔡文, 杨春燕, 何斌. 可拓学与人工智能[A]. 中国人工智能进展(2001). 北京:北京邮电大学出版社, 2001,1048-1051
Liu Wei,Ye Jian. Extension information[A]. Proceedings of 96 International Conference On Management Science & Engineering, 1996
Cai Wen. Extension theory and its application[J]. Chinese Science Bulletin, 1999, 44(17):1538-1548
杨春燕, 张拥军. 可拓集合及其应用[J]. 数学的实践与认识, 2002,32(2):301-308
李立希. 可拓知识库系统及其应用[J]. 中国工程科学, 2001, 3(3):61-64
李士勇. 模糊控制, 神经控制和智能控制论[M]. 哈尔滨:哈尔滨工业大学出版社, 1996:588-596
蔡文. 物元分析概要. 人工智能学报, (2) 1983:56-64
阳林, 吴黎明, 黄爱华. 可拓控制的物元模型及其控制算法. 系统工程理论与实践, 2000, 9(6):126-130
Li Jian, Wang Shienyn. Primary Research on Extension Control. Pro. Of International Conference on Information and Systems. AMSE 1991, Hangzhou, China, 1991, 1:392-395
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攻读硕士学位期间承担的科研任务与主要成果
发表论文如下：
1 姜万录，孙慢，陈南．电液伺服系统的可拓控制策略研究．机床与液压．(录用待发表)．
2 Jiang Wanlu, Sun Man, Liu Jian. Application of Extension Theory to Control Field. Systems Engineering and electronics.（Submitted）．