采用非线性流量特性补偿的直驱式变转速泵控系统轨迹跟踪控制  

Trajectory Tracking Control of a Direct-drive Variable Speed Pump Control System with a Non-linear Model Compensation

作　　者：赫连勃勃 吕立彤 陈正[1,3] 姚斌[1,4] HELIAN Bo-bo;LV Li-tong;CHEN Zheng;YAO Bin(State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, Zhejiang 310027;School of Mechanical Engineering, Shijiazhuang Tiedao University, Shijiazhuang, Hebei 050043;Ocean College, Zhejiang University, Zhoushan, Zhejiang 316021;School of Mechanical Engineering, Purdue University, West Lafayette, USA IN47907)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027 [2]石家庄铁道大学机械工程学院,河北石家庄050043 [3]浙江大学海洋学院,浙江舟山316021 [4]普渡大学机械工程学院,美国西拉法叶IN47907

出　　处：《液压与气动》2021年第7期1-6,共6页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2020YFB2009901);国家自然科学基金(52075476,61633019);国家自然科学基金创新群体(51821093)。

摘　　要：变转速电机-泵直驱电液系统的发展与伺服技术的提升使得泵控系统在保留高能效特性的同时,具有更高的硬件集成度和更快的响应速度;但是在低转速泵控工况下,此类系统依旧存在泵的流量非线性、流量偏差大等控制难点,使得变转速泵控系统难以完成高精度的执行器运动轨迹跟踪。为实现泵控液压缸系统的精密运动控制,提出了一种新颖的非线性流映射方案,以此得到精确的泵输出流量;同时,利用非线性自适应鲁棒反演控制策略(Adaptive Robust Controller Backstepping,ARCB)实现液压系统在高阶动力学、参数不确定性下的精确控制。试验表明,提出的控制策略可有效解决变转速泵的流量偏差问题,实现理想的控制性能和轨迹跟踪精度。Pump control systems have higher hardware integrations and faster responses as well as the high energy efficiency characteristic with the development of variable speed motor-pump direct-drive systems and the improvement of servo technology.In order to achieve the precise motion control of the pump-controlled hydraulic systems,this paper proposes a non-linear mapping method to obtain an accurate pump flow rate model.At the same time,the nonlinear adaptive robust backstepping strategy is used to achieve precise control of the hydraulic system with high-order dynamics and uncertain nonlinearities.Experiments show that the proposed control strategy can effectively handle flow deviation and achieve ideal trajectory tracking accuracy.

关 键 词：直驱泵控 自适应鲁棒控制 轨迹跟踪 反演控制 

分 类 号：TH137[机械工程—机械制造及自动化]