基于模糊决策的推土机滑模鲁棒自适应控制  

Fuzzy decision based sliding mode robust adaptive control for bulldozer

作　　者：白寒[1] 管成[1] 潘双夏[1] 

机构地区：[1]浙江大学机械与能源工程学院,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2009年第12期2178-2185,共8页Journal of Zhejiang University：Engineering Science

基　　金：国家科技支撑计划资助项目(2007BAF13B04);台州市科技计划资助项目(07zju010)

摘　　要：针对推土机作业效率低的问题,提出了一种推土机工作装置的自动控制方法.根据推土机发动机转速和转速变化率,结合操作经验和试验结果,采用模糊决策的方法对铲刀位置进行优化.考虑电液伺服系统的特性,设计了一种基于逐步递推方法的滑模鲁棒自适应控制器,用以跟踪经过模糊决策的铲刀目标位置.利用逐步递推方法和状态反馈线性化的方法,得到系统的滑模控制器;依据Lyapunov稳定性理论,得出系统的参数自适应律,并在自适应控制中引入鲁棒控制的设计方法,实现对模糊决策量的精确位置跟踪控制.实验结果表明,滑模鲁棒自适应控制具有较强的鲁棒性和良好的跟踪性能,模糊决策合理地优化铲刀目标调整位置,提高推土作业效率.An automatic control strategy was proposed for bulldozer working device to improve working efficiency. The bulldozer blade position was optimized by fuzzy decision combined with human experience and experiments according to engine speed and its change rate. A sliding mode robust adaptive controller was designed to track the fuzzy decision values considering the characteristics of electro-hydraulic servo system. The recursive technique and state feedback linearization scheme were used to obtain a sliding mode controller. The system parameter update law was presented and a robust adaptive controller combined with sliding mode method was designed to accurately track fuzzy decision values based on Lyapunov stability theory. Experimental results show that the sliding mode robust adaptive controller has good robustness and remarkably improves the tracking accuracy. Fuzzy decision reasonably optimizes the desired blade position and improves the bulldozer working efficiency.

关 键 词：推土机自动控制 模糊决策 滑模控制 鲁棒自适应控制 电液伺服系统 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]