电液伺服双缸同步举升系统反步法控制研究  

Backstep control of electro-hydraulic servo double-cylinder synchronous lifting system

作　　者：高俊 梁全[1] 王忠伟 王星坤 GAO Jun;LIANG Quan;WANG Zhongwei;WANG Xingkun(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《机电工程》2024年第5期827-835,861,共10页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51775354)。

摘　　要：针对电液伺服双缸同步系统的控制复杂、非线性强等问题,提出了一种反步控制算法,利用半实物仿真技术完成电液伺服同步系统的同步精度和反步法控制器的仿真验证工作。首先,对电液伺服双缸同步系统数学模型进行了研究,根据阀控缸基本方程和横梁动力学方程,推导了电液伺服同步系统非线性状态空间方程,利用坐标变换,将方程整理成矩阵形式以及严格反馈形式,满足了反步法控制律的应用条件;然后,根据李雅普诺夫稳定性理论和反步法控制原理,推导了电液伺服双缸同步系统的反步法控制律,编写了C语言程序设计反步法控制器;最后,由工控机和研华USB-4704数据采集卡组成的半实物仿真平台,完成了电液伺服双缸同步系统反步法控制策略的试验。研究结果表明:反步法控制电液伺服双缸同步控制系统,相比于常规PID控制,液压缸实际位移与期望位移误差更小,单液压缸的位移跟踪误差从6.5 mm降低到2.3 mm,减少64.6%,双缸同步系统的最大同步误差从0.25 mm降低到0.21 mm,减少了16%,设计的反步法控制器使双缸同步控制系统的控制精度和系统稳定性得到明显提升。Aiming at the problems of complex control and strong nonlinearity of the electro-hydraulic servo dual-cylinder synchronization system,a backstepping control algorithm was proposed.The semi-physical simulation technology was used to complete the synchronization accuracy of the electro-hydraulic servo synchronization system and the simulation verification of the backstepping controller.Firstly,the mathematical model of electro-hydraulic servo dual-cylinder synchronous system was studied.The nonlinear state space equation of electro-hydraulic servo synchronous system was derived according to the basic equation of valve-controlled cylinder and the dynamic equation of beam.Through coordinate transformation,the equation was sorted into matrix form and sorted into strict feedback form,which met the application conditions of backstepping control law.Then,according to the Lyapunov stability theory and the backstepping control principle,the backstepping control law was derived for the electro-hydraulic servo dual-cylinder synchronous system,and the backstepping controller was programmed by C language.Finally,the experimental verification of the backstepping control strategy of the electro-hydraulic servo dual-cylinder synchronous system was completed on the semi-physical simulation platform composed of industrial computer and advantech USB-4704 data acquisition card.The experimental results show that comparing with the conventional PID control,the error between the actual displacement and the expected displacement of the hydraulic cylinder is smaller.The displacement tracking error of the single hydraulic cylinder is reduced from 6.5 mm to 2.3 mm,which is reduced by 64.6%.The maximum synchronization error of the two-cylinder synchronous system is reduced from 0.25 mm to 0.21 mm,which is reduced by 16%.The designed backstepping controller significantly improves the control accuracy and system stability of the two-cylinder synchronous control system.

关 键 词：阀控缸 反步控制算法 反步法控制器 非线性状态空间方程 横梁动力学方程 半实物仿真 

分 类 号：TH137.5[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]