基于Lyapunov-MRAC的深海泵压力控制系统动态性能优化  

Dynamic Performance Optimization of Deep-sea Pump Pressure Control System Based on Lyapunov-MRAC

作　　者：曹学鹏[1,2] 曹皓清 曾致豪 包翔宇 卫昌辰 丁凯 CAO Xue-peng;CAO Haoqing;ZENG Zhi-hao;BAO Xiangyu;WEI Chang-chen;DING Kai(School of Construction Machinery,Changkn University,XiOn,Shaanxi 710064;Key Laboratory of Road Construction Technolooy and Equipment,Changkn University,Xi'an,Shaanxi 710064)

机构地区：[1]长安大学工程机械学院,陕西西安710064 [2]长安大学公路养护装备国家工程实验室,陕西西安710064

出　　处：《液压与气动》2020年第4期53-60,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51509006);中央高校基本科研业务费专项资金(300102258201,300102258301)。

摘　　要：针对深海环境下柱塞泵的快速响应性能变差的问题,提出将Lyapunov-MRAC策略用于深海泵压力控制系统中的方法。将海平面下的深海泵数学模型视为参考模型,以不同水深下的泵模型为实际被控模型,并由此设计深海泵压力控制系统的Lyapunov-MRAC控制器,并计算控制律。对搭建的控制系统给定不同的输入信号进行仿真实验分析。仿真结果表明,系统输出偏差随时间增加而不断降低,被控模型具备良好的跟随参考模型变化的能力;控制器参数对系统控制性能具有一定影响,当增大输入信号幅值,被控系统的最大输出偏差由1.2升至1.5,表明控制系统初期控制精度降低;稳定时间由0.8 s缩短至0.5 s,提高了稳定速度;而增大控制系统的增益值,则能同时提高系统的初期控制精度及稳定速度。阶跃响应结果表明,系统控制误差随时间增大由13.5%而不断减小为0,即控制精度不断增大;被控系统的上升时间由控制前0.923 s降至控制后0.426 s,提高了其动态响应性能。该研究为深海液压源的性能优化提供理论参考。Aiming at the problem of poor response of the plunger pump in deep-sea environment,the method of using Lyapunov-MRAC strategy in the deep-sea pump pressure control system is proposed.The mathematical model of the deep-sea pump under sea level is regarded as the reference model.The pump model under different water depths is taken as the actual controlled model,and the Lyapunov-MRAC controller of the deep-sea pump pressure control system is designed and the control law is calculated.Simulate experimental analysis of different input signals for the built control system.The simulation results show that the system output deviation decreases with time,and the controlled model has good ability to follow the reference model change;and the controller parameters have certain influence on the system control performance,that is,increase the input signal amplitude.The maximum output deviation of the controlled system is increased from 1.2 to 1.5,indicating that the initial control accuracy of the control system is reduced.The stabilization time is shortened from 0.8 s to 0.5 s,which increases the stability speed;and increasing the gain value of the control system can simultaneously increase the initial control accuracy and stable speed of the system.The simulation results of the step signal show that the control error of the system increases from 13.5%to 0,which means that the control precision increases continuously.The rise time of the controlled system is reduced from 0.923 s before control to 0.426 s after control.Improve its dynamic response performance.This study provides theoretical guidance for the performance optimization of deep-sea hydraulic sources.

关 键 词：动态性能 深海液压泵 Lyapunov-MRAC 控制精度 稳定速度 

分 类 号：TH137.51[机械工程—机械制造及自动化] TH322