双电动缸滑模力分配同步起竖控制  

Double Electric Cylinder Sliding Mode Force Distribution Synchronous Erection Control

作　　者：李浩[1] 葛曜文 邓文翔 姚建勇[1] LI Hao;GE Yao-wen;DENG Wen-xiang;YAO Jian-yong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,Jiangsu 210014)

机构地区：[1]南京理工大学机械工程学院,江苏南京210014

出　　处：《液压与气动》2023年第4期95-106,共12页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(52075262,51905271)。

摘　　要：针对含有未知系统动态、外部时变干扰及内力纷争的双电动缸同步起竖系统,提出了一种不依赖于函数逼近器且能保证瞬态和稳态跟踪性能的同步控制策略。设计基于未知系统动态估计的双曲滑模控制器保证起竖轨迹跟踪性能,使用未知系统动态估计器估计补偿系统未知参数和外部时变干扰,该控制器结构简单只需调节一个参数且具有良好的动态适应性能,基于双曲函数设计了一种新的滑模趋近律,有效克服了传统滑模的易抖振等问题;针对双电动缸同步起竖过程中存在的双缸耦合现象,设计推力分配同步控制算法,避免系统产生大的耦合内力,同时保证双缸运动的同步性。通过Lyapunov稳定性理论证明闭环系统的稳定性,仿真结果证明了提出控制策略的有效性。For the dual electric cylinder synchronous erection system with unknown system dynamics,external time-varying disturbances and internal force disputes,a synchronous control strategy that does not rely on function approximators and can ensure transient and steady-state tracking performance is proposed.A hyperbolic sliding mode controller based on the dynamic estimation of the unknown system is designed to ensure the tracking performance of the erection trajectory.The unknown system dynamic estimator is used to estimate and compensate the unknown parameters of the system and external time-varying disturbances.The controller has a simple structure and only needs to adjust one parameter and has good performance.Based on the hyperbolic function,a new sliding mode reaching law is designed,which effectively overcomes the problem of easy chattering of the traditional sliding mode.For the double-cylinder coupling phenomenon existing in the synchronous erection process of the dual electric cylinders,The thrust distribution synchronous control algorithm is designed to avoid the large coupling internal force of the system,and at the same time to ensure the synchronization of the two-cylinder motion.The stability of the closed-loop system is proved by Lyapunov stability theory,and the simulation results show the effectiveness of the proposed control strategy.

关 键 词：双缸同步起竖 未知系统动态估计 滑模控制 力分配控制 

分 类 号：TH137[机械工程—机械制造及自动化] TJ768.2[兵器科学与技术—武器系统与运用工程] TP273[自动化与计算机技术—检测技术与自动化装置]