考虑伺服阀零偏补偿的电液振动台随机振动模型参考滑模控制策略  

Random Vibration Model Reference Sliding Mode Control of Electro-hydraulic Shaking Table with Valve Null Bias Compensation

作　　者：范大莽 关广丰[1] 熊伟[1] 王海涛[1] FAN Damang;GUAN Guangfeng;XIONG Wei;WANG Haitao(Department of Mechanical Engineering,Dalian Maritime University,Dalian 116026)

机构地区：[1]大连海事大学机械工程系,大连116026

出　　处：《机械工程学报》2022年第13期119-128,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51675073);中央高校基本科研业务费专项资金(3132019352)资助项目。

摘　　要：电液振动台随机振动控制方法是大型结构振动环境模拟的关键技术。基于线性模型设计的经典三状态控制策略难以补偿非匹配干扰力对随机振动系统控制精度的影响。滑模控制方法能够在一定程度上抑制干扰力的影响,但现有控制器设计过程中忽略了伺服阀的零偏,难以应用于加速度随机振动控制系统中。针对上述问题,建立单轴电液振动台非线性状态空间模型,基于反步法和Lyapunov第二法,分别设计针对非匹配干扰力和伺服阀零偏的控制律,利用参考模型生成期望信号及其各阶导数,构建模型参考滑模控制器,实现干扰力抑制和伺服阀零偏补偿。将模型参考滑模控制器与三状态顺馈控制器相结合,实现振动台系统的加速度随机振动控制。位置阶跃响应及加速度随机振动仿真分析和实验研究表明,模型参考滑模控制器能够明显改善电液振动台的瞬态性能指标,提高加速度随机波参考信号的跟踪精度。Random vibration control of electro-hydraulic shaking table is the key technology for large structures vibration simulation.Three variable control(TVC)developed based on linear model is commonly used for the control of electro-hydraulic shaking table.However,the mismatched disturbance force is not compensated by TVC.Sliding mode control can be used for disturbance rejection in the electro-hydraulic servo system.But the conventional sliding mode control cannot be applied for the acceleration random control of the electro-hydraulic shaking table when the valve null bias is neglected.Model reference sliding mode control with valve null bias compensation is presented for the electro-hydraulic shaking table system to improve the acceleration tracking performance.The backstepping and Lyapunov method are used to develop the controller based on nonlinear state space model.The reference model is used for the generation of the reference signals.Model reference sliding mode control is used for the disturbance rejection and valve null bias compensation.The feedforward controller in TVC is added to improve the acceleration tracking performance.Experimental results obtained in step responses and acceleration random vibration are used to demonstrate the effectiveness of the proposed method.

关 键 词：电液振动台 加速度控制 模型参考滑模控制 干扰力抑制 零偏补偿 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]