考虑多变负载扰动的电液系统速度追踪控制  

Speed tracking control on electro-hydraulic system considering variable load disturbance

作　　者：许文斌[1] 曾乐 周密乐[1] Xu Wenbin;Zeng Le;Zhou Mile(College of Aeronautical Machinery Manufacturing,Airforce Aviation Repair Istitute of Technology,Changsha 410124,China;State Key Laboratory of High Performance Complicated Manufacturing,Central South University,Changsha 410083,China)

机构地区：[1]空军航空维修技术学院航空机械制造学院,湖南长沙410124 [2]中南大学高性能复杂制造国家重点实训室,湖南长沙410083

出　　处：《锻压技术》2022年第8期163-170,共8页Forging & Stamping Technology

基　　金：湖南省科教联合基金项目(2020JJ7084)。

摘　　要：成形速度是影响金属成形性能的关键因素之一。为了提高成形速度的稳定性,改善金属成形质量,考虑电液系统多变负载扰动,构建了电液系统动力学模型。对成形过程中的不同工况进行了负载模拟,建立了表征系统不同阶段特性的动力学分段子模型。通过引入边界层函数代替符号函数设计了切换控制律,对多变负载扰动增加补偿项。基于鲁棒反馈线性化控制提出了统一切换控制策略。通过仿真和实验对比,分析了统一切换控制、PD控制、鲁棒控制在不同负载状态及不同成形速度下的系统响应。结果表明:统一切换控制可以提高系统速度控制的精度和鲁棒性,验证了统一切换控制策略对多变负载扰动抑制的有效性。Forming speed is one of the key factors affecting metal forming performance.Therefore,in order to improve the stability of forming speed and the quality of metal forming,a dynamic model of electro-hydraulic system was established considering the variable load disturbance electro-hydraulic system.Then,the load simulation of the forming process was carried out under different working conditions,and the dynamic segmented sub-models representing the characteristics of the system at different stages were established.Furthermore,the switching control law was designed by introducing the boundary layer function to replace the sign function,and the compensation term was added to the variable load disturbance.Finally,based on robust feedback linearization control,the unified switching control strategy was proposed,and the system responses of unified switching control,PD control and robust control under different load states and different forming speeds were compared and analyzed by simulation and experiment.The results show that the unified switching control can improve the accuracy and robustness of the system speed control,and the effectiveness of the unified switching control strategy for suppression of the variable load disturbance is verified.

关 键 词：电液系统 负载扰动 速度追踪 多模型控制 统一切换控制 

分 类 号：TH117[机械工程—机械设计及理论]