带有高增益观测器的MDF连续热压系统滑模控制
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摘要
中密度纤维板(Medium Density Fiberboard,MDF)作为木材综合利用率高的一种人造板材,其厚度精度决定了板材的力学性能,从而影响其质量。本文将连续热压机电液位置伺服系统作为被控对象,针对MDF板坯厚度控制问题,提出一种带高增益观测器的滑模控制策略。首先通过设计高增益观测器对系统输出的位置信号进行观测,将位置、速度及加速度信号的估计值返回滑模控制器,实现了无需速度、加速度测量的滑模控制,保证了观测误差一致最终有界。然后通过构造合适的Lyapunov函数,证明了所提出的控制策略不但能使系统指数渐近稳定,而且保证了跟踪误差的一致最终有界性。仿真实验结果表明,所提出的控制方法可以保证系统精准快速地跟踪位置信号,从而可以保证MDF获得良好的厚度精度。
Medium Density Fiberboard(MDF) is a kind of artificial board with high comprehensive utilization ratio of wood.Its thickness and precision determine the mechanical properties of the board,thus affecting its quality.In this paper,the continuous hot pressing electro-hydraulic position servo system is taken as the controlled object.Aiming at the problem of MDF slab thickness control,a sliding mode control strategy with high gain observer is proposed.A high gain observer is designed to observe the output position signal of the system,and the estimation of the position,velocity and acceleration signals is returned to the sliding mode controller.The sliding mode control without speed and acceleration measurement is realized,which ensures that the observation error is consistent.Then,by constructing the proper Lyapunov function,it is proved that the proposed control strategy can not only guarantee the exponential asymptotic stability of the system,but also guarantee the consistent boundness of the tracking error.The simulation results show that the proposed control method can ensure that the system can track the position signal accurately and quickly,which can ensure the MDF has good thickness and precision.
Medium Density Fiberboard(MDF) is a kind of artificial board with high comprehensive utilization ratio of wood.Its thickness and precision determine the mechanical properties of the board,thus affecting its quality.In this paper,the continuous hot pressing electro-hydraulic position servo system is taken as the controlled object.Aiming at the problem of MDF slab thickness control,a sliding mode control strategy with high gain observer is proposed.A high gain observer is designed to observe the output position signal of the system,and the estimation of the position,velocity and acceleration signals is returned to the sliding mode controller.The sliding mode control without speed and acceleration measurement is realized,which ensures that the observation error is consistent.Then,by constructing the proper Lyapunov function,it is proved that the proposed control strategy can not only guarantee the exponential asymptotic stability of the system,but also guarantee the consistent boundness of the tracking error.The simulation results show that the proposed control method can ensure that the system can track the position signal accurately and quickly,which can ensure the MDF has good thickness and precision.
引文
[1]邵小东,朱良宽,曹军.MDF连续平压位置伺服系统的反步控制[J].森林工程,2014,30(4):103-106.
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[19]杜佳璐,杨杨,郭晨,等.基于高增益观测器的船舶动力定位系统的输出反馈控制[J].控制理论与应用,2013,30(11):1486-1491.
[20]骆金平.热压机机架改造工艺浅析[J].林业机械与木工设备,2016,44(10);42-45.
[21]黄国樑,雒鹰,吴晓平,等.6HW-12B型高射程喷雾机液压控制系统设计与计算[J].林业机械与木工设备,2015,43(2);8-9.
[22]吴振顺.液压控制系统[M].北京:高等教育出社,2008.
[23]韩京清,王伟.非线性跟踪─微分器[J].系统科学与数学,1994,14(2):177-183.
[24]高为炳.变结构控制的理论及设计方法[M].北京:科学出版社,1996.
[25]邵小东.MDF连续热压机板厚控制液压系统位置跟踪控制研究[D].哈尔滨:东北林业大学,2015.
[2]张洋.纤维板制造学[M].中国林业出版社,2012.
[3]邹俊,傅新,杨华勇,等.自适应交互PID在液压伺服系统中的应用[J].机械工程学报,2006,42(11):179-183.
[4]魏建华,熊熙程,管成.两级电液伺服位置控制研究[J].农业机械学报,2006,37(4):102-106.
[5]邵俊鹏,张领,金朝辉.基于重复控制补偿的电液位置伺服系统分数阶PID控制[J].北京工业大学学报,2015,41(4):519-525.
[6]Elbayomy K M,Jiao Z X,Zhang Z X.PID controller optimization by GA and its performances on the electro-hydraulic servo control system[J].Chinese Journal of Aeronautics,2008,21(4):378-384.
[7]付培华,陈振,丛炳龙,等.基于反步自适应滑模控制的永磁同步电机位置伺服系统[J].电工技术学报,2013,28(9):288-293.
[8]汪成文,尚耀星,焦宗夏,等.阀控电液位置伺服系统非线性鲁棒控制方法[J].北京航空航天大学学报,2014,40(12):1736-1740.
[9]Kaddissi C,Kenne J P,Saad M.Identification and real-time control of an electrohydraulic servo system based on nonlinear backstepping[J].IEEE/ASME Transactions on Mechatronics,2007,12(1):12-22.
[10]李运华,杨丽曼,张志华.电液伺服系统的二阶滑模控制算法研究[J].机械工程学报,2005,41(3):72-75.
[11]Ghazali R,Sam Y M,Rahmat M F,et al.Sliding mode control with PID sliding surface of an electro-hydraulic servo system for position tracking control[J].Australian Journal of Basic and Applied Sciences,2010,4(10):4749-4759.
[12]Jing J,Yingying Y,Yanxian F.Optimal sliding-mode control scheme for the position tracking servo system[J].WSEAS Transactions on Systems,2008,7(5):435-444.
[13]Guan C,Pan S.Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters[J].Control Theory and Appplications,2008,16(11):1275-1284.
[14]贾超,吴爱国.基于李雅普诺夫直接法的电液伺服系统控制[J].吉林大学学报(工学版),2012,42(3):696-701.
[15]李建雄,方一鸣,石胜利.轧机液压伺服位置系统的自适应输出反馈控制[J].电机与控制学报,2012,16(1):104-110.
[16]Kim W,Won D,Shin D,et al.Output feedback nonlinear control for electro-hydraulic systems[J].Mechatronics,2012,22(6):766-777.
[17]王虎军,王璐.基于高增益观测器的船舶航迹鲁棒跟踪控制[J],中国造船,2015,56(3):146-153.
[18]潘月斗,陈虎.基于高增益观测技术的高精度感应电机磁链观测器研究[J],控制与决策,2014,29(8):1495-1500
[19]杜佳璐,杨杨,郭晨,等.基于高增益观测器的船舶动力定位系统的输出反馈控制[J].控制理论与应用,2013,30(11):1486-1491.
[20]骆金平.热压机机架改造工艺浅析[J].林业机械与木工设备,2016,44(10);42-45.
[21]黄国樑,雒鹰,吴晓平,等.6HW-12B型高射程喷雾机液压控制系统设计与计算[J].林业机械与木工设备,2015,43(2);8-9.
[22]吴振顺.液压控制系统[M].北京:高等教育出社,2008.
[23]韩京清,王伟.非线性跟踪─微分器[J].系统科学与数学,1994,14(2):177-183.
[24]高为炳.变结构控制的理论及设计方法[M].北京:科学出版社,1996.
[25]邵小东.MDF连续热压机板厚控制液压系统位置跟踪控制研究[D].哈尔滨:东北林业大学,2015.