位置扰动型电液力加载系统反步控制  

Backstepping control for electro-hydraulic force-loading system with position disturbance

作　　者：魏航 金晓宏[1,2] 黄浩[1,2] 陶平 Wei Hang;Jin Xiaohong;Huang Hao;Tao Ping(Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430081

出　　处：《武汉科技大学学报》2020年第3期213-218,共6页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金资助项目(51675387).

摘　　要：针对位置扰动型电液力加载系统中产生的多余力,提出一种反步控制策略。首先构建力加载系统的微分方程;然后,为了使控制器简便易行,选择合适的Lyapunov函数,利用Lyapunov稳定性条件和反步控制思想反演设计出一次反步控制器。采用一组典型的电液力加载系统参数,通过MATLAB/Simulink仿真软件对反步控制器与传统PID控制器进行仿真比较,结果表明:反步控制器能控制主阀芯反向运动并将力加载系统油腔的多余流量排出,且参数调节简便;增大反步系数k值,系统响应会变快,跟踪误差减小,但超调量会增加;相较于PID控制力加载系统,加入反步控制器的系统响应更快,且经过初始阶段后能一直保持更好的跟踪性能。A backstepping control strategy was proposed to suppress the superfluous force in the electro-hydraulic force-loading system with position disturbance.First,differential equations of the force-loading system were constructed.To make the controller simple and easy to implement,a proper Lyapunov function was selected,and a one-step backward controller was designed based on Lyapunov stability conditions and backstepping control ideas.With a set of typical parameters of the electro-hydraulic force-loading system,MATLAB/Simulink simulation software was used to compare the backstepping controller with the traditional PID controller.The results indicate that the backstepping controller can control the main valve spool to move inversely and discharge the superfluous flow in the oil chamber of the force-loading system,and it is convenient to adjust the control parameters.With the increase of backstepping coefficient k,the system responds more quickly and the tracking error declines,but the overshoot rises.Compared with PID controller,the force-loading system using backstepping controller has faster response and maintains better tracking performance after the initial phase.

关 键 词：电液力加载系统 位置扰动 多余力 反步控制 LYAPUNOV函数 

分 类 号：TH137.9[机械工程—机械制造及自动化]