基于RBF最小参数学习法的正流量变量泵滑模自适应控制  

Sliding Mode Adaptive Control of Positive Flow Variable Pump Based on RBF Minimum Parameter Learning Method

作　　者：孙承志 张元良[1] 康杰 牛东东 SUN Chengzhi;ZHANG Yuanliang;KANG Jie;NIU Dongdong(School of Mechanical Engineering,Dalian University of Technology,Dalian Liaoning 116024,China;Xuzhou Construction Machinery Group Co.,Ltd.,Xuzhou Jiangsu 221004,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024 [2]徐州徐工挖掘机械有限公司,江苏徐州221004

出　　处：《机床与液压》2023年第20期157-162,共6页Machine Tool & Hydraulics

基　　金：国家重点研发计划课题(2020YFB1709903)。

摘　　要：为了提高正流量变量泵的性能,提出基于RBF最小参数学习法的正流量变量泵滑模自适应控制方法。分析正流量变量泵电液伺服系统的动力学特性,并进行系统辨识实验获得较为精确的系统数学函数模型;基于RBF最小参数学习法设计滑模控制器,在系统参数不确定性、摩擦力干扰和系统泄漏等非线性因素的情况下实现对目标流量的跟踪响应和自适应控制;最后利用MATLAB/Simulink对正流量变量泵的控制系统性能进行仿真实验,并和传统的PID控制器和模糊PID控制器进行比较。仿真实验结果验证了所设计控制方法的可行性和有效性。In order to improve the performance of the positive flow variable pump,a sliding mode adaptive control method of positive flow variable pump based on the RBF minimum parameter learning method was proposed.The dynamic characteristics of the electro-hydraulic servo system of the positive flow variable pump were analyzed,and the system identification experiment was carried out to obtain a more accurate system mathematical function model.The sliding mode controller was designed based on the RBF minimum parameter learning method,in the case of nonlinear factors such as system parameter uncertainty,friction interference and system leakage,the tracking response and adaptive control of target flow rate were carried out.Finally,simulation experiment of the positive flow variable pump control system performance was carried out based on MATLAB/Simulink,and compared with traditional PID controller and fuzzy PID controller.The simulation results verified the feasibility and effectiveness of the designed control method.

关 键 词：滑模自适应控制 RBF最小参数学习法 电液伺服系统 鲁棒性 

分 类 号：TH137[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]