巨型模锻压机驱动系统鲁棒自适应补偿控制  

Robust adaptive compensation control for a drive system for giant forging hydraulic presses

作　　者：潘晴[1] 黄明辉[1] 李毅波[1] 宋文举[1] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《华中科技大学学报（自然科学版）》2013年第10期59-63,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(51005251);国家重点基础研究发展计划资助项目(2011CB706802);中国重型机械研究院金属挤压/锻造装备技术国家重点实验室开放基金资助项目;湖南省博士生科研创新项目

摘　　要：为获得巨型模锻压机的精确摩擦模型,研究了时变负载对摩擦参数的影响规律,改进了LuGre摩擦模型.针对其驱动系统强耦合性和非线性的特点,建立了驱动系统数学模型,提出一种基于耦合系统分解的分层控制策略.设计了鲁棒自适应控制器补偿第一级子系统中存在的非线性摩擦,并且基于李雅普诺夫稳定性理论证明了该子系统的渐近稳定性.利用模糊自适应PID控制器和非线性干扰补偿器,消除第二级子系统的跟踪误差和扰动.数值仿真结果表明:改进后的LuGre摩擦模型能精确地描述实验平台的摩擦特性,该综合控制策略对负载扰动、系统参数变化的不确定性表现较强的鲁棒性.与应用常规PID控制进行摩擦补偿相比,应用该控制方案能将速度跟踪均方误差从5.771×10-3减小至1.803×10-4,可实现高精度的速度跟踪.To obtain an accurate friction model for giant forging hydraulic presses, the impacts of the time-varying load on friction parameters were investigated and the LuGre friction model was modified. The mathematical model of the drive system was established and the coupled system decomposition based scheme was proposed by taking the characteristics of highly nonlinear and coupled of the drive system into account. The robust adaptive controller used for friction compensation of the first level subsystem was designed, and the global asymptotic stability of the subsystem was verified based on the Lyapunov theory. The tracking error and disturbance were eliminated of the second level subsystem by using fuzzy adaptive PID （proportional integral derivative） controller and nonlinear disturbance compensator. Simulation results indicate that the modified LuGre model can describe the characteristics of the experimental platform precisely. Also, the presented strategy demonstrates strong robustness in terms of load disturbance and uncertainty of the system parameters. The proposed control scheme can achieve the validity that the mean square error of velocity tracking decreases from 5. 771 × 10^-3 to 1. 803 ×10^-4 compared with the custom PID control, i. e. , it can realize high-precision velocity tracking.

关 键 词：锻压机 摩擦 干扰抑制 鲁棒控制 分层控制 LUGRE模型 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]