液压驱动关节的自适应鲁棒速度控制研究  

Adaptive Robust Velocity Control of a Hydraulic Driven Joint

作　　者：吕良和 LYU Lianghe(CRCC Development Group Co.,Ltd.,Beijing 100043,China)

机构地区：[1]中铁建发展集团有限公司,北京100043

出　　处：《国防交通工程与技术》2023年第3期8-12,共5页Traffic Engineering and Technology for National Defence

摘　　要：在自动化、智能化发展趋势下,闭环运动控制成为液压机电装备重要的底层控制算法。以直线运动液压缸推动关节回转运动这一典型机构为研究对象,开展其速度跟踪控制研究:首先建立其非线性动力学模型,进而设计了基于该模型的自适应鲁棒速度控制器,对其中非线性和不确定性等进行了有效补偿,并在理论层面证明其跟踪性能。通过与常用控制方法的对比,验证了所提出控制方法在控制精度方面的提升成效。Under the development trend of automation and intelligence,closed-loop motion control has become an important underlying control algorithm for hydraulic electromechanical equipment.The paper takes the typical mechanism where the joint is pushed by the linear motion hydraulic cylinder to rotate as the research object,the velocity tracking control is studied.Firstly,a nonlinear dynamic model is established,and then an adaptive robust velocity controller based on this model is designed to effectively compensate the nonlinearity and uncertainty.The tracking performance is proved theoretically.Through the comparison with the common control methods,the proposed control method is proved to be effective in improving control accuracy.

关 键 词：机电系统 精确控制 液压缸驱动 关节回转 自适应控制 非线性控制 

分 类 号：TH137[机械工程—机械制造及自动化]