基于改进LuGre摩擦模型的阀控缸系统非线性控制策略研究  

Research on nonlinear control strategy of valve-controlled cylinder system based on improved LuGre friction model

作　　者：高炳微[1,2] 申伟 戴野[1,2] 关昊 GAO Bingwei;SHEN Wei;DAI Ye;GUAN Hao(Key Laboratory of Advanced Manufacturing and Intelligent Technology,Ministry of Education,Harbin University of Science and Technology,Harbin 150080,China;School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学先进制造智能化技术教育部重点实验室,哈尔滨150080 [2]哈尔滨理工大学机械动力工程学院,哈尔滨150080

出　　处：《振动与冲击》2023年第11期139-147,155,共10页Journal of Vibration and Shock

基　　金：黑龙江省自然科学基金项目(LH2019E064);黑龙江省普通本科学校青年创新人才培养计划(UNPYSCT-2018197);国家自然科学基金项目(52075134)。

摘　　要：针对具有高度非线性的电液伺服系统控制问题,提出了一种适用于伺服系统的摩擦模型,利用遗传算法对所建立的摩擦模型进行参数辨识,获得了精确的摩擦力矩数学模型,并将其作为前馈补偿加入非线性控制中,以减小摩擦非线性对电液伺服系统的影响。为解决伺服系统换向过程中易出现的抖振现象,设计了一种基于摩擦模型前馈补偿的模糊变系数自抗扰控制器。基于类双曲正弦函数设计了状态误差反馈控制部分,平滑切换点处的输出抖动,在此基础上结合模糊自适应控制方法,通过误差和误差微分对非线性状态反馈系数进行调节。研究表明,上述控制策略能够有效提高系统响应速度、收敛速度、稳定性和鲁棒性,降低了对摩擦的过补偿、欠补偿的影响,对伺服系统换向和速度零点处的抖振具有较好的抑制作用。Aiming at the control problem of an electro-hydraulic servo system with high nonlinearity,a friction model suitable for the servo system was proposed.The parameters of the established friction model were identified by the genetic algorithm,and an accurate mathematical model of friction torque was obtained,which was added to the nonlinear control as a feedforward compensation to reduce the influence of friction nonlinearity on the electro-hydraulic servo system.To solve the chattering phenomenon that is easy to occur in the commutation process of the servo system,a fuzzy variable coefficient active disturbance rejection controller based on friction model feedforward compensation was designed.Based on the quasi-hyperbolic sine function,the state error feedback control part was devised to smooth the output jitter at the switching point.On this basis,combined with the fuzzy adaptive control method,the nonlinear state feedback coefficient was adjusted by error and error differential.The research shows that the above control strategy can effectively improve the response speed,convergence speed,stability,and robustness of the system,and reduce the influence of over-compensation and under-compensation on friction.It has a good inhibitory effect on the commutation of the servo system and the chattering at the zero point of the speed.

关 键 词：自抗扰 摩擦 补偿 模糊自适应 辨识 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]