振动与力加载耦合的电液伺服控制  

Electro-hydraulic servo control system with coupling between vibration and force lording

作　　者：沈刚[1,2] 李戈[1,2] 侯冬冬 朱真才[1,2] 李翔[1,2] SHEN Gang;LI Ge;HOU Dong-dong;ZHU Zhen-cai;LI Xiang(School of Mechanical and Electrical Engineering, China University of Mining and Technology,Xuzhou Jiangsu 221116, China;Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology,Xuzhou Jiangsu 221116, China;Zhengzhou Institute of Mechanical and Electrical Engineering, Zhengzhou Henan 450015, China)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116 [2]中国矿业大学江苏省矿山机电装备重点实验室,江苏徐州221116 [3]郑州机电工程研究所,河南郑州450015

出　　处：《控制理论与应用》2017年第7期921-930,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(51575511);国家重点基础研究发展计划项目("973"计划)(2014CB049404);长江学者和创新团队发展计划项目(IRT_16R68);江苏高校优势学科建设工程项目资助~~

摘　　要：振动与力加载耦合的电液伺服系统具有集成模拟被测试件在振动与加载耦合工况下动态性能的优势,针对振动模拟对力加载系统产生的干扰多余力问题,提出了一种力干扰观测器,以提高加载力跟踪精度.首先,建立了振动与力加载耦合的电液伺服控制系统的数学仿真模型;其次,利用递推增广最小二乘算法辨识了力加载系统闭环传递函数;然后,利用零相差跟踪技术设计了力加载系统的前馈逆模型;最后,设计了力干扰观测器,搭建了水平向振动与力加载耦合的电液伺服系统实验台,仿真和实验验证了提出的力干扰观测器可有效降低由于振动扰动而产生的干扰多余力.An electro-hydraulic servo system with coupling between vibration and force loading has the advantage ofsimulating dynamic performance of the test specimen subjected to simultaneously vibration and force loading.In order tocompensate a surplus force disturbance caused by active motion of the electro-hydraulic system with shaking table and forcesimulator,a disturbance observer is proposed to improve the force loading tracking performance.First,a mathematicalsimulation model of the electro-hydraulic servo system with coupling between vibration excitation and force loading isestablished.Then,a recursive extended-least squares algorithm is employed to identify the transfer function of the forceclosed-loop system,and a zero phase error compensation technology is employed to design the inverse model of the forceloading closed-loop system,based on which the disturbance observer is designed.Simulation and experimental results werecarried out using the electro-hydraulic experimental system with shaking table and force loading simulator,and it is verifiedthat the force loading disturbance observer can eliminate the surplus force caused by the coupling between vibration andforce loading.

关 键 词：电液伺服控制 振动与力加载耦合 干扰观测器 前馈逆模型 传递函数辨识 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]