基于AMESim-MATLAB的滑模模糊阻抗力位切换控制  

Sliding Mode Fuzzy Impedance Force-Position Switching Control Based on AMESim-MATLAB

作　　者：周杰 罗铭[1,2] 吴孝红 ZHOU Jie;LUO Ming;WU Xiaohong(College of Mechanical Engineering,Anhui University of Technology,Ma anshan Anhui 243002,China;Jingtian Intelligent Equipment Co.,Ltd.,Ma anshan Anhui 243000,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243002 [2]惊天智能装备股份有限公司,安徽马鞍山243000

出　　处：《机床与液压》2020年第20期31-35,共5页Machine Tool & Hydraulics

摘　　要：为提高电液伺服系统在不同工况下位置跟踪和力跟踪性能,并减小力位切换时的力位跟踪误差,提出一种基于滑模模糊阻抗的力位切换控制策略。在自由空间中采用滑模控制提高系统位置跟踪性能,在接触空间采用基于位置的模糊阻抗控制提高液压缸从自由空间到接触空间的接触力稳定性。在建立AMESim模型基础上,与MATLAB/Simulink建立联合仿真,结果表明:该控制算法对电液伺服系统有良好的力位跟踪能力,有效减小了力位切换过程中力位跟踪误差。In order to improve the displacement tracking and force tracking performance of electro-hydraulic servo system under different working conditions and reduce the force tracking error during force position switching,a force-position switching control strategy based on sliding mode fuzzy impedance was proposed.Sliding mode control was used in free space to improve the position tracking performance of the system.Position-based fuzzy impedance control was used in the contact space to improve the contact force stability of the hydraulic cylinder from free space to contact space.Based on the establishment of AMESim model,the joint simulation with MATLAB/Simulink was carried out.The results show that the control algorithm has good force tracking ability for electro-hydraulic servo system,by which the force tracking error is effectively reduced during force position switching.

关 键 词：滑模控制 模糊阻抗控制 力位切换 联合仿真 

分 类 号：TH137[机械工程—机械制造及自动化]