超越负载下基于李雅普诺夫直接法的电液位置伺服系统研究  

Electro-hydraulic position servo system under negative load based on Lyapunov s direct method

作　　者：阮军 金晓宏[1,2] 黄浩 张绍峰 RUAN Jun;JIN Xiao-hong;HUANG Hao;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10期1136-1143,共8页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51675387)。

摘　　要：针对电液位置伺服系统在超越负载作用下,液压缸活塞被迫运动并出现强迫流量的问题,对系统数学模型和强迫流量表达式进行了分析。基于系统的误差状态方程,采用Lyapunov直接法构造了一种形式简单的Lyapunov函数,通过Lyapunov直接法的反演方式对系统渐近稳定条件进行了求解,对求取控制律的一般性方法进行了归纳;借助一典型电液系统参数,依据Lyapunov直接法所得到的控制率,提出了包含前向通道串联微分控制补偿器和与动力机构并联的带可调液阻机液补偿器的复合控制策略,并利用Simulink软件对该典型电液系统进行了数值仿真分析。研究结果表明:在超越负载工况下,在保证系统稳定性的同时,所设计的控制器能按照位移指令信号实现正常的运行控制任务,并且在外负载力正负交变的条件下其稳态误差小于0.183%,调整时间小于0.02 s。Aiming at reducing the influence of forced flow caused by passive movement of the piston which subjected to negative load in electro-hydraulic position servo system on its tracking performance,the mathematical model of the system under negative load was analyzed,and the forced flow expression was extracted.On the basis of this expression,a simple Lyapunov function based on the system's error equation was constructed by the Lyapunov direct method.The asymptotical stability condition of the system was solved through the inversion of Lyapunov direct method,and the generality of the control strategy was given.Based on the parameters of a typical electro-hydraulic system,a differential control compensator in series in forward channel combine with a mechanical-hydraulic compensator with adjustable hydraulic resistance attaching to actuator were constructed with the control strategy obtained by the Lyapunov direct method,so that the control strategy proposed can be realized.The numerical simulation of this typical hydraulic system was performed by employ of Simulink software.The results indicate that,the control strategy can ensure the stability of the system under negative load,meanwhile the system can achieve the control tasks according to the displacement command signal;Under positive and negative alternating load,the system has a steady error less than 0.183%,and the adjustment time is less than 0.02 seconds.

关 键 词：超越负载 电液位置控制系统 LYAPUNOV直接法 机液补偿器 

分 类 号：TH137.9[机械工程—机械制造及自动化]