基于反馈型自适应鲁棒控制的伺服泵直接驱动电液系统精确运动控制研究  

Research on Precise Motion Control of Electro⁃hydraulic System Driven by Servo Pump Based on Feedback Adaptive Robust Control

作　　者：潘洪坤[1] 关薇[1] 田江平[2] PAN Hongkun;GUAN Wei;TIAN Jiangping(Dalian Vocational&Technical Collage,Dalian Liaoning 116037,China;Dalian University of Technology,Dalian Liaoning 116023,China)

机构地区：[1]大连职业技术学院,辽宁大连116037 [2]大连理工大学,辽宁大连116023

出　　处：《机床与液压》2021年第21期136-141,共6页Machine Tool & Hydraulics

基　　金：辽宁省教育厅科技项目(JYT201901)。

摘　　要：由于传统泵控液压系统存在位置跟踪精度低、频率响应慢的缺点,给精确运动控制造成很多困难。对此,针对伺服电机泵直接驱动电液系统模型的非线性动力学特性和参数不确定性,采用反馈型自适应鲁棒控制(ARC),实现伺服泵直接驱动电液系统的精确运动控制。建立伺服电机泵直接驱动电液系统的动力学模型,通过非线性泵流量映射重新建立泵的动力学模型。采用反馈型ARC方法进行控制器设计,合成泵的控制输入,使气缸执行器位置跟踪一个期望的轨迹,并对系统模型的位移斜坡响应和伺服泵功率进行实验仿真。结果表明:相比于PID控制,反馈型ARC控制下的位移跟踪误差大幅度降低,伺服泵的平均功率分别降低了55%、26%、63%,峰值功率也有所降低。采用反馈型ARC控制,能够实现有效的模型补偿,使得系统运行稳定,提高系统模型的跟踪性能和鲁棒控制性能。Due to the shortcomings of traditional pump⁃controlled hydraulic system,such as low position tracking accuracy and slow frequency response,the precise motion control is difficult.Aiming at the nonlinear dynamic characteristics and parameter uncer⁃tainty of the electro⁃hydraulic system model driven directly by servo motor pump,feedback adaptive robust control(ARC)was adopted to realize accurate motion control of the electro⁃hydraulic system driven directly by servo pump.A dynamic model of electro⁃hydraulic system driven directly by servo motor pump was established,and the dynamic model of the pump was reconstructed through the nonlin⁃ear pump flow mapping.The feedback ARC method was used to design the controller and the control input of the pump was synthe⁃sized,so the position of the cylinder actuator could track a desired trajectory,and the displacement slope response and servo pump power of the system model were simulated experimentally.The results show that compared with PID control,the displacement tracking error under feedback ARC control is greatly reduced,the average power of the servo pump is reduced by 55%,26%and 63%respec⁃tively,and the peak power is also reduced.By using the feedback ARC control,effective model compensation can be realized,which makes the system run stably and improves the tracking performance and robust control performance of the system model.

关 键 词：泵控液压系统 自适应鲁棒控制 非线性泵流量映射 跟踪性能 

分 类 号：V233.91[航空宇航科学与技术—航空宇航推进理论与工程]