基于扰动观测器的电液比例系统滑模位置控制
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摘要
针对电液比例阀控缸驱动的并联机构,设计一种基于扰动观测器的滑模控制方法。在对并联机构末端执行器进行位置控制中,因末端执行器受到被试件转动产生的扰动,且并联机构支链相互耦合,支链液压缸实际负载与理论负载存在较大误差,且误差很难计算出。为此设计非线性扰动观测器以估计未知负载力,在滑模控制器中进行负载扰动补偿。使用滑模控制增强系统的鲁棒性。仿真结果表明:所设计的扰动观测器具有很好的观测效果,在扰动负载的干扰下,该控制系统可实现精确的位置控制,对未知非线性扰动系统具有很好的鲁棒性。
A sliding model controller based on disturbance observer(DOB) is designed for parallel actuator driven by electro-hydraulic proportional valve-control cylinders.In the position control of the parallel mechanism,due to the disturbance caused by the rotation of workpiece,and the coupling of the branches of the parallel mechanism,the theoretical load have a large error with the actual load of the hydraulic cylinder,and the error is difficult to be calculated.In the study,the nonlinear disturbance observer is designed on the basis of system dynamics model in order to estimate the unknow n load,and compensate the load force in the sliding model controller,which improves the robust of the control systems.The simulation results show that the disturbance observer has a good effect,and the designed controller under the disturbance of load disturbance can realize accurate position control and has strong robust.
A sliding model controller based on disturbance observer(DOB) is designed for parallel actuator driven by electro-hydraulic proportional valve-control cylinders.In the position control of the parallel mechanism,due to the disturbance caused by the rotation of workpiece,and the coupling of the branches of the parallel mechanism,the theoretical load have a large error with the actual load of the hydraulic cylinder,and the error is difficult to be calculated.In the study,the nonlinear disturbance observer is designed on the basis of system dynamics model in order to estimate the unknow n load,and compensate the load force in the sliding model controller,which improves the robust of the control systems.The simulation results show that the disturbance observer has a good effect,and the designed controller under the disturbance of load disturbance can realize accurate position control and has strong robust.
引文
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[8]赵元金,李虹.基于模糊PID的电液位置伺服控制器的设计[J].流体传动与控制,2009(1):19-22.
[9]孙春亚,吴楝华,喜冠南.电液伺服模糊PID位置控制系统设计及应用[J].机械设计与制造,2016(6):155-157.
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[12]Daehee Won,Wonhee Kim.Disturbance observer based backstepping for position control of electro-hydraulic systems[J].International Journal of Control,Automation and Systems,2015,13(2):488-493.
[13]熊义,魏建华,冯瑞琳,等.基于扰动观测器的电液系统压力控制[J].中南大学学报(自然科学版),2017,48(5):1182-1189.
[2]王春行.液压控制系统[M].北京:机械工业出版社,2016.
[3]严寒.间隙特性对电液伺服系统的影响及其抑制研究[D].哈尔滨:哈尔滨工程大学,2014.
[4]朱勇,姜万录,郑直.摩擦力作用下电液伺服系统非线性动力学行为[J].北京航空航天大学学报,2015,41(1):50-57.
[5]吕宏庆,苏毅,杨建勇,等.电液伺服系统中的非线性及其影响分析[J].机床与液压,2002(1):116-118.
[6]万海波.切削载荷下机床主轴的振动响应分析[J].组合机床与自动化加工技术,2014(4):22-25.
[7]H E梅里特.液压控制系统[M].北京:科学出版社,1976.
[8]赵元金,李虹.基于模糊PID的电液位置伺服控制器的设计[J].流体传动与控制,2009(1):19-22.
[9]孙春亚,吴楝华,喜冠南.电液伺服模糊PID位置控制系统设计及应用[J].机械设计与制造,2016(6):155-157.
[10]Bin Yao,Fanping Bu,John Reedy,et al.Adaptive Robust Motion Control of Single-Rod Hydraulic Actuators:Theory and Experiments[J].Transaction on Mechatronics,2000,5(1):79-91.
[11]Yao B,Bu F,Chiu G T C.Nonlinear adaptive robust control of electro-hydraulic servo systems with discontinuous projections[Z].1998.
[12]Daehee Won,Wonhee Kim.Disturbance observer based backstepping for position control of electro-hydraulic systems[J].International Journal of Control,Automation and Systems,2015,13(2):488-493.
[13]熊义,魏建华,冯瑞琳,等.基于扰动观测器的电液系统压力控制[J].中南大学学报(自然科学版),2017,48(5):1182-1189.