新型的多缸液压机控制方法  

Novel control scheme for multi cylinder hydraulic press

作　　者：贾超[1] 吴爱国[2] 

机构地区：[1]天津理工大学自动化学院,天津300384 [2]天津大学电气与自动化工程学院,天津300072

出　　处：《华中科技大学学报（自然科学版）》2013年第9期42-47,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家科技重大专项资助项目(2009ZX04004-031);天津市高等学校科技发展基金资助项目(20120705)

摘　　要：为一类多缸液压机建立了适用于控制分配理论的非线性系统数学模型,并根据该模型的特点,提出了一种新型的多缸液压机控制器设计方法.该方法将多缸液压机的控制器设计分为虚拟量控制器设计、控制分配设计及最终控制律设计三个环节.首先根据控制要求得到滑块运动所需的三个虚拟控制输入量;然后基于控制分配理论对这三个虚拟输入量进行规划求解,计算出分配给各个液压缸的期望输出力;最后将这些输出力作为期望目标,采用分散滑模控制方法得到了各液压缸实际所需的分散滑模控制律.仿真实验及对比表明:所设计的控制器能够在位于不同位置的可变偏载作用下实现高精度的位置跟踪,且获得了较好的调平效果,有效解决了多缸冗余液压机控制律难于求解的问题.A nonlinear system model of a multi cylinder hydraulic press was constructed. And then, according to the model features, a novel control scheme for multi cylinder hydraulic press was pro- posed. The proposed scheme separated the controller design process into three parts, the design of virtual controller, control allocation and final control law. Firstly, the three virtual control inputs for block movement were derived according to the control demand. Secondly, the virtual inputs were pro- grammed based on the control allocation theory and the expected output force of every cylinder was obtained. At last, the actual required control law based on the expected output forces was derived, which adopted decentralized sliding mode control method. By the comparison, the simulation result indicates that the designed controller can realize the position tracking with high precision under unbal- ance loading located in different position, and the leveling effect is improved remarkably. The problem of the control algorithm which is difficult to obtain for redundant multi cylinders press is solved effec- tively.

关 键 词：液压机 控制分配 滑模控制 调平控制 多缸 冗余 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]