摇板式造波机的自适应鲁棒滑模策略研究  

Adaptive robust sliding mode strategy of swing plate wave generators

作　　者：姚建均 刘原铭 麦万庚 李英朝 唐瑞卓 YAO Jianjun;LIU Yuanming;MAI Wangeng;LI Yingzhao;TANG Ruizhuo(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;Zhongxing Telecom Equipment Corporation,Shenzhen 518000,China)

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]中兴通讯股份有限公司,广东深圳518000

出　　处：《哈尔滨工程大学学报》2023年第9期1638-1644,共7页Journal of Harbin Engineering University

基　　金：黑龙江省自然科学基金项目(E2018019).

摘　　要：为了提高在海工物理试验水池中造波机系统的自适应性及鲁棒性,本文提出了一种自适应鲁棒滑模耦合控制策略。在对多轴造波机进行控制中,基于滑模控制原理,引入了改进指数趋近律,以保证在滑模面滑动的动态品质;同时为了应对外界扰动及系统摩擦非线性因素,引入了映射自适应控制策略。对自适应鲁棒滑模耦合控制策略及PID并行同步控制下的多轴摇板式造波机分别进行仿真及实验,仿真结果表明:与PID并行同步控制相比,在自适应鲁棒滑模耦合控制下产生的波浪,其跟踪误差波动范围由0.022 m下降到0.007 m;实验结果表明:自适应鲁棒滑模控制策略下生成的波浪形状更加接近于期望形状。由此可见,与传统PID并行控制相比,自适应鲁棒滑模耦合控制的自适应特性和鲁棒性能更加可靠。We propose an adaptive robust sliding mode control strategy to improve the adaptability and robustness of wave generator systems in marine physics test tanks.An improved exponential approach law based on the sliding mode control method is introduced to ensure the dynamic quality of sliding on sliding surfaces under the control of multiaxis coupled wave generators.At the same time,a mapping adaptation control strategy is introduced to address external disturbances and the nonlinear factors of system friction.The adaptive robust sliding mode coupling control strategy and a PID synchronously controlled multiaxis rocker-type wave generator are simulated and tested.The simulation results show that the fluctuation range of the tracking error for the waves generated under the adaptive robust sliding mode control strategy has decreased from 0.022 m to 0.007 m compared with those for the waves under PID parallel synchronous control.The experimental results demonstrate that the wave shape generated under the adaptive robust sliding mode control strategy is close to the expected shape.The adaptive characteristics and robust performance of the adaptive robust sliding mode control are more reliable than those of the traditional PID parallel control.

关 键 词：物理试验水池 摇板式造波机 耦合同步控制 自适应滑模 映射自适应 鲁棒性 自适应性 趋近律 

分 类 号：TV139.23[水利工程—水力学及河流动力学]