变刚度电液力系统主导极点模型自适应控制研究  

Load stiffness adaptive control of electro-hydraulic force system based on dominant pole reference model

作　　者：李朝朝 金晓宏[1,2] 王坤 张绍峰 LI Zhao-zhao;JIN Xiao-hong;WANG Kun;ZHANG Shao-feng(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：《机电工程》2020年第7期764-769,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51675387)。

摘　　要：针对位置扰动型被动式电液力系统中负载刚度变化会导致系统不稳定、控制精度差等问题,提出了一种基于主导极点参考模型的自适应控制策略。首先建立了位置扰动型被动式电液力系统数学模型,分析了负载刚度变化对系统动态特性的影响;然后根据系统性能指标设计出了一种基于主导极点且满足严格正实、稳定最小相位系统要求的理想参考模型,并依据Narendra稳定自适应控制器方案设计了模型参考自适应控制器;最后借助MATLAB/Simulink软件对所设计控制器进行了仿真研究。研究结果表明:主导极点模型自适应控制器能够有效抑制负载刚度变化对系统动态特性的影响,使系统在20.7 ms内快速跟踪指令信号且具有极佳的一致性,同时自适应系统在14 Hz时幅值误差为0.005%,相位滞后9.58°,拓展了系统频宽。Aiming at the problem that the load stiffness change in passive electro-hydraulic force system with position disturbance will lead to system instability and poor accuracy,an adaptive control strategy based on dominant pole model was proposed.Firstly,the mathematical model of passive electro-hydraulic force system with position disturbance was established.The influence of load stiffness variation on the dynamic characteristics of the system was analyzed.Then an ideal reference model based on the dominant pole and the satisfaction of the requirements of strictly positive real and stable minimum phase system was designed according to the system performance index,and a model reference adaptive controller was designed based on the Narendra stable adaptive controller scheme.Finally,the designed controller was simulated by MATLAB/Simulink software.The results indicate that the adaptive controller based on the dominant pole model can effectively suppress the influence of load stiffness variation,the system can quickly track the command signal within 20.7 ms and has excellent consistency,meanwhile the adaptive system has an amplitude error of 0.005%and a phase lag of 9.58°at 14 Hz,which effectively expands the system bandwidth.

关 键 词：负载刚度 位置扰动 电液力系统 主导极点参考模型 模型参考自适应控制 

分 类 号：TH137.9[机械工程—机械制造及自动化]