被动式电液力系统反步控制算法的简化研究  

Simplification of backstepping control algorithm for passive electro hydraulic system

作　　者：张绍峰 金晓宏[1,2] 周园 黄浩 ZHANG Shao-feng;JIN Xiao-hong;ZHOU Yuan;HUANG Hao(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》2022年第7期927-934,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：被动式电液力加载系统在精度、多余力和大质量负载等方面存在一定的问题,为此,提出了一种针对反步控制器的简化方法。首先,利用反步控制算法抑制了多余力,分析了控制信号的结构组成和阶数;然后,阐述了负载质量对控制信号的影响,计算了组成控制信号各项的数量级,并分析了其占比权重;最后,忽略了控制信号结构中数量级很小的部分,以此来简化反步控制器,采用李雅普诺夫稳定性理论对简化后的反步控制器的有效性及系统的稳定性进行了验证,并用MATLAB/Simulink检验了控制策略的有效性及控制性能。研究结果表明:被动式电液力系统存在位置干扰的情况下,在加入简化后的反步控制器后,对其输入不同的指令信号,系统能表现出良好的跟踪性能(在10 Hz时,输出力在31 ms内可快速跟踪指令信号,且稳态误差仅0.94%);简化后的反步控制器结构简单,在工程上更易于实现,且在含有一定质量负载的场合下能有效抑制多余力;相比于传统控制器,其效果更佳、跟踪指令信号速度更快。Aiming at the main problems of passive electro-hydraulic loading system,such as precision,redundant force and large mass load,a simplified method for the backstepping controller was proposed.Firstly,the structure and order of the control signal were analyzed on the basis of restraining the surplus force by using the backstepping control algorithm.Then the influence of load quality on control signal was expounded.The order of magnitude of each component of the control signal was calculated and its proportion weight was analyzed.Finally,a small order of magnitude part of the control signal structure was ignored to simplify the backstepping controller,Lyapunov stability theory was used to verify the effectiveness of the simplified backstepping controller and the stability of the system,and MATLAB/Simulink was used to verify the effectiveness of the control strategy and control performance.The results show that,when the passive electro-hydraulic system has position interference,after adding the simplified backstep controller and inputting different command signals,the system can show good tracking performance:at 10 Hz,the output force can quickly track the command signal within 31 ms and the steady-state error is only 0.94%.The simplified backstepping controller has a simple structure which is more convenient for engineering implementation,and can effectively restrain the redundant force under certain mass load,with better effect and faster tracking command signal speed.

关 键 词：被动式电液力系统 李雅普诺夫 反步控制器 多余力 大质量负载 位置干扰 跟踪性能 

分 类 号：TH137.9[机械工程—机械制造及自动化]