基于滑模变结构控制的电液伺服系统及实验研究
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摘要
针对电液伺服系统的控制特点和性能要求,将滑模变结构控制策略应用到典型电液伺服控制系统中,进行了详细的理论分析和实验研究。
实际电液伺服系统存在诸多非线性影响因素,并且存在着比较大的不确定性,此外还不可避免地存在外部负载干扰。而实际系统要求稳态误差小、快速性好、鲁棒性强,这就给控制系统的设计带来了很大的困难。为了克服这些不利因素,满足系统要求,本文将滑模变结构控制策略应用于电液伺服控制系统中。滑模变结构控制的主要特点是:当系统状态穿越状态空间的不同区域时,反馈控制器的结构按照一定的规律发生变化,使得控制器对伺服系统的内在参数变化和外在负载扰动等因素具有较强鲁棒性,从而保证系统能够达到期望的性能指标要求。
本文首先对典型电液伺服控制系统进行了理论分析,建立了数学模型,计算出了系统的有关参数,并通过仿真验证了滑模变结构控制算法的合理性和有效性。其次,进行了实验研究,采用LabVIEW软件编制出实时控制程序,以材料试验机为被控对象进行实时控制,取得了良好的控制效果;结果表明:与PID控制相比,滑模变结构控制具有更好的动态特性。实验还分析了供油压力对动态响应特性的影响,以及控制器参数变化对系统性能的影响。从而在理论分析以及实验中均证明了应用滑模变结构控制策略时,系统具有快速性好,控制平滑,易于微机实现,动态特性良好,鲁棒性强等优点,为工程应用奠定了基础。
In accordance with control characteristics and performance demand of the electro-hydraulic servo system, a new control strategy of sliding mode variable structure control is applied in the general electro-hydraulic servo system, then a lot of simulation and experiment is done.
There are some nonlinear factors, great indeterminacy and load disturbance in the real electro-hydraulic servo system inevitably. At the same time, we expect the steady-state error of the system is small, and the adjusting time is short. Therefore, it is very difficult for the designer to design the system. To overcome these disadvantages, and meet the demand of the system, the variable structure control with sliding mode approach is presented in this paper. The main characteristic of the sliding mode variable structure control is that: when the state of the system goes through the different areas of the state space, the structure of the feedback controller changes as some law. Thus, the system is robust to the inner parameter variation and outer environment interference and the system has better dynamic performance
In the paper, having analyzed and studied the electro-hydraulic servo system in theory, its mathematical model is set up, and the involved parameters are calculated and determined. Further, a great number of simulation experiments verified the algorithm is effective. At last, by means of experiments, a real-time control program by LabVIEW is realized to control material testing machine. The results are proved to be satisfactory. And the influence of the supplying pressure and the control parameters with the system’s dynamic characteristics is studied. Therefore, not only on the theory and simulation but also in the real system experiments, by using the sliding mode control, the system have the characteristics such as the fast speed quality, smooth control, better dynamic performance following with that being carried out easily for microcomputer; which lay a foundation to apply them in practices and production.
实际电液伺服系统存在诸多非线性影响因素,并且存在着比较大的不确定性,此外还不可避免地存在外部负载干扰。而实际系统要求稳态误差小、快速性好、鲁棒性强,这就给控制系统的设计带来了很大的困难。为了克服这些不利因素,满足系统要求,本文将滑模变结构控制策略应用于电液伺服控制系统中。滑模变结构控制的主要特点是:当系统状态穿越状态空间的不同区域时,反馈控制器的结构按照一定的规律发生变化,使得控制器对伺服系统的内在参数变化和外在负载扰动等因素具有较强鲁棒性,从而保证系统能够达到期望的性能指标要求。
本文首先对典型电液伺服控制系统进行了理论分析,建立了数学模型,计算出了系统的有关参数,并通过仿真验证了滑模变结构控制算法的合理性和有效性。其次,进行了实验研究,采用LabVIEW软件编制出实时控制程序,以材料试验机为被控对象进行实时控制,取得了良好的控制效果;结果表明:与PID控制相比,滑模变结构控制具有更好的动态特性。实验还分析了供油压力对动态响应特性的影响,以及控制器参数变化对系统性能的影响。从而在理论分析以及实验中均证明了应用滑模变结构控制策略时,系统具有快速性好,控制平滑,易于微机实现,动态特性良好,鲁棒性强等优点,为工程应用奠定了基础。
In accordance with control characteristics and performance demand of the electro-hydraulic servo system, a new control strategy of sliding mode variable structure control is applied in the general electro-hydraulic servo system, then a lot of simulation and experiment is done.
There are some nonlinear factors, great indeterminacy and load disturbance in the real electro-hydraulic servo system inevitably. At the same time, we expect the steady-state error of the system is small, and the adjusting time is short. Therefore, it is very difficult for the designer to design the system. To overcome these disadvantages, and meet the demand of the system, the variable structure control with sliding mode approach is presented in this paper. The main characteristic of the sliding mode variable structure control is that: when the state of the system goes through the different areas of the state space, the structure of the feedback controller changes as some law. Thus, the system is robust to the inner parameter variation and outer environment interference and the system has better dynamic performance
In the paper, having analyzed and studied the electro-hydraulic servo system in theory, its mathematical model is set up, and the involved parameters are calculated and determined. Further, a great number of simulation experiments verified the algorithm is effective. At last, by means of experiments, a real-time control program by LabVIEW is realized to control material testing machine. The results are proved to be satisfactory. And the influence of the supplying pressure and the control parameters with the system’s dynamic characteristics is studied. Therefore, not only on the theory and simulation but also in the real system experiments, by using the sliding mode control, the system have the characteristics such as the fast speed quality, smooth control, better dynamic performance following with that being carried out easily for microcomputer; which lay a foundation to apply them in practices and production.
引文
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2 王春行. 液压控制系统. 北京:机械工业出版社, 1998:112-113 40-47
3 王占林. 近代电气液压伺服控制. 北京:北京航空航天大学出版社, 2005:1-3 5-10
4 I. D. 朗道. 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
5 C. J. 哈里斯. 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
6 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
7 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
8 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
9 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
10 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
11 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
12 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
13 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
14 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
15 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
16 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
17 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
18 胡佑德, 马东升, 张莉松. 伺服系统原理与设计. 北京:北京理工大学出版社, 1999:107-116
19 李浩. 电液位置伺服系统的自适应滑模控制. [上海交通大学硕士学位论文]. 2000:3-4
20 王占林. 近代液压控制. 北京:机械工业出版社, 1997:3-8
21 李志刚. 电液伺服系统的分数阶 PID 控制研究. 机床与液压, 2007, 35(1):168-169
22 吴镇顺, 王贤成, 姚建均. 电液伺服系统模型的参考自适应控制研究. 机床与液压, 2005, (10):113-11
23 龚赤兵, 吴海峰, 曾良才. 电液位置伺服系统神经 PID 控制及仿真研究. 机床与液压, 2005, (10):146-148
24 徐兆红, 迟疑林, 刘道玉. 三维模糊控制在电液位置伺服系统中的应用.液压与气压, 2005, (1):45-47
25 褚键. 过程控制是艺术还是工程应用. 化工自动化及仪表, 1991,23:3-12
26 汤青波, 张国新, 梁建伟. 液压位置伺服系统的模糊滑模控制器设计. 机床与液压,2006,(5):29-31
27 刘金琨. 滑模变结构控制 MATLAB 仿真. 北京:清华大学出版社, 2005:1-3
28 Utkin V I. Variable structure system with sliding modes. IEEE Transactions Automatic Control, 1997, 22(2):212-222
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