基于改进前馈逆补偿的电液加载试验系统力跟踪控制研究  

Force Tracking Control of Electro-hydraulic Loading Test System Based on Improved Feedforward Inverse Compensation

作　　者：郭晨策 侯冬冬[2] 沈刚[3] GUO Chen-ce;HOU Dong-dong;SHEN Gang(China Shipbuilding Heavy Sea for Zhengzhou High-tech Co.,Ltd.,Zhengzhou,Henan 450000;Seventh thirteen Institute of China Shipbuilding Industry Corporation,Zhengzhou,Henan 450000;School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221116)

机构地区：[1]中船重工海为郑州高科技有限公司,河南郑州450000 [2]中国船舶重工集团公司第七一三研究所,河南郑州450000 [3]中国矿业大学机电学院,江苏徐州221116

出　　处：《液压与气动》2019年第8期89-96,共8页Chinese Hydraulics & Pneumatics

摘　　要：针对电液加载试验系统力加载跟踪控制问题,分析了电液加载系统的组成及工作原理,建立了系统动力学模型,并对动力学模型的准确性进行了验证。在此基础上,首先使用了速度反馈补偿控制器抑制外部干扰,其次利用递推增广最小二乘法(Recursive Extended Least Square,RELS)及零相差跟踪技术(Zero Phase Error Tracking,ZPET)设计出系统逆模型,进行前馈逆补偿控制,然后考虑速度反馈存在的微分问题,设计了内模控制器,最后利用电液加载试验台进行了力加载控制策略的试验研究。试验结果证明,与传统PI控制器相比,提出的改进前馈逆补偿力加载控制算法可以更有效地抑制系统外部干扰,提高力加载的跟踪精度。Aiming at the force tracking control of electro-hydraulic loading test system,the dynamic model of electro-hydraulic loading test system is established and verified,based on which the velocity feedback compensation controller is designed to suppress external disturbance.Then,the system identification model and system inverse model is obtained by employing the Recursive Extended Least Square algorithm(RELS)and Zero Magnitude Error Tracking Technology(ZMET).Moreover,the internal model controller is designed with consideration of the differential in velocity feedback compensation controller.The performance on force tracking control of electro-hydraulic loading test system with the proposed method is validated through experiments using an electro-hydraulic loading test system,and the experimental results demonstrate that the proposed control algorithm exhibits a better force tracking accuracy than the conventional PI controller.

关 键 词：力加载 速度反馈 模型辨识 逆模型 内模控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP271.31[自动化与计算机技术—检测技术与自动化装置]