单杆液压执行器双侧触觉遥控操作的李雅普诺夫稳定控制器研究  

Study on Lyapunov Stability Controller of Single-lever Hydraulic Actuator with Two-side Tactile Remote Operation

作　　者：吕国策 LV Guoce(Changchun Vocational Institute of Technology, Changchun Jilin 130000, China)

机构地区：[1]长春职业技术学院工程技术分院

出　　处：《机床与液压》2019年第19期159-163,180,共6页Machine Tool & Hydraulics

基　　金：吉林省科技创新专项资金资助项目(20160308061HJ)

摘　　要：液压执行器运动轨迹容易受到多种环境因素干扰,导致实际运动轨迹偏离理论运动轨迹,造成定位精度下降。对此,建立了单杆液压执行器模型简图,采用李雅普诺夫稳定控制器控制液压执行器的运动轨迹。分析了双侧遥控操作系统的动态模型,推导了液压执行器流量非线性控制方程式,设计了单杆液压致动器双侧控制的李雅普诺夫稳定控制方案,采用数学方法对控制器的稳定性进行了证明。结合具体实例,对单杆液压执行器的运动轨迹跟踪误差进行仿真,并与传统PID控制器的跟踪误差形成对比。对误差的仿真结果表明:在受到外界波形干扰时,采用李雅普诺夫稳定控制器控制液压执行器运动轨迹,产生误差较小。液压执行器采用李雅普诺夫稳定控制器,能够提高系统运动的稳定性,降低运动轨迹产生的误差。The motion trajectory of the hydraulic actuator is easily disturbed by various environmental factors,which leads to the deviation of the actual motion trajectory from the theoretical trajectory,resulting in the decrease of positioning accuracy.Therefor a simple diagram of single lever hydraulic actuator is established,and the motion trajectory of hydraulic actuator is controlled by Lyapunov stability controller.The dynamic model of the two-side remote control system are analyzed.The hydraulic actuators nonlinear flow control equation was deduced to design the single lever hydraulic actuator bilateral control Lyapunov stability control scheme,using mathematical methods to prove the stability of the controller.The trajectory tracking error of single lever hydraulic actuator was simulated and compared with the tracking error of the traditional Proportion Integral Derivative(PID)controller.The error simulation results show that when the external waveform is disturbed,the motion trajectory of hydraulic actuator is controlled by Lyapunov stability controller,and the error is small.The hydraulic actuator adopts Lyapunov stability controller,which can improve the stability of the system motion and reduce the error caused by the motion trajectory.

关 键 词：单杆 液压执行器 非线性 李雅普诺夫 控制器 仿真 

分 类 号：TH122[机械工程—机械设计及理论]