基于滑模扰动观测器和积分滑模控制器的活塞加速度控制研究  

Research on Piston Acceleration Control Based on Sliding Mode Disturbance Observer and Integral Sliding Mode Controller

作　　者：杜迎慧[1] 李强 郗建国 DU Yinghui;LI Qiang;XI Jianguo(College of Transportation,Xinxiang Vocational and Technical College,Xinxiang Henan 274015,China;Henan Weilai Mechanical & Electrical Engineering Co.,Ltd.,Zhengzhou Henan 450066,China;College of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang Henan 471003,China)

机构地区：[1]新乡职业技术学院交通学院,河南新乡274015 [2]河南未来机电工程有限公司,河南郑州450066 [3]河南科技大学车辆与交通工程学院,河南洛阳471003

出　　处：《机床与液压》2022年第11期130-135,共6页Machine Tool & Hydraulics

基　　金：河南省科技攻关计划资助项目(192102210068);河南省高校科技创新人才支持计划资助项目(19HASTIT022)。

摘　　要：针对活塞加速度精度低的问题,提出具有气动和液压技术优势的新型混合执行控制系统。通过分析电液-气动混合执行控制系统结构,建立电液-气动混合执行器的数学模型。在积分滑模控制器的基础上,结合具有干扰抑制和估算复合扰动能力的滑模扰动观测器,开发滑模扰动观测器-积分滑模控制器的综合控制器;采用MATLAB软件对电液-气动混合执行器进行仿真,并与传统PID控制器的计算结果进行对比和分析。结果表明:采用基于滑模扰动观测器-积分滑模控制器的电液-气动混合执行控制系统可明显提高对方波和正弦加速度信号的跟踪精度,方波响应超调量减少约54%,正弦响应误差减少约65%;该控制系统抗干扰性强,位置跟踪误差较小,可以有效地精确控制活塞加速度,具有较强的鲁棒性。In order to solve the problem of low acceleration precision of piston,a new hybrid actuator control system with advantages of pneumatic and hydraulic technology was proposed.The structure of the electro-hydraulic-pneumatic hybrid actuator system was analyzed,and the mathematical model of the hybrid actuator was established.On the basis of the integral sliding mode controller,combined with the sliding mode disturbance observer with interference suppression and estimating compound disturbance ability,a comprehensive controller of sliding mode disturbance observer-integral sliding mode controller was developed;the MATLAB software was used to simulate the electro-hydraulic-pneumatic hybrid actuator,and the calculation results were compared and analyzed with traditional PID controllers.The results show that by using the electro-hydraulic-pneumatic hybrid actuator system based on sliding mode disturbance observer-integral sliding mode controller,the tracking accuracy for square wave and sinusoidal acceleration signals can be significantly improved,and the square wave response overshoot is reduced by about 54%and the sinusoidal response error is reduced by about 65%;the control system has a strong anti-interference performance and small position tracking error,the piston acceleration can be effectively controlled,and the system has strong robustness.

关 键 词：滑模扰动观测器 积分滑模控制器 活塞 加速度控制 仿真分析 

分 类 号：U463[机械工程—车辆工程]