基于模型参考自适应的电液负载模拟器主动加载力控制研究  

Research on Active Loading Force Control of Electro-Hydraulic Load Simulator with Model Reference Adaptive

作　　者：钟海防 刘凯磊 强红宾 康绍鹏 陈茂泽 张钰琦 ZHONG Haifang;LIU Kailei;QIANG Hongbin;KANG Shaopeng;CHEN Maoze;ZHANG Yuqi(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou Jiangsu 213001,China;Research Center of Fluid Machinery Engineering and Technology,Jiangsu University,Zhenjiang Jiangsu 212013,China;SINOMACH Changlin Co.,Ltd.,Changzhou Jiangsu 213136,China)

机构地区：[1]江苏理工学院机械工程学院,江苏常州213001 [2]江苏大学流体机械工程技术研究中心,江苏镇江212013 [3]国机重工集团常林有限公司,江苏常州213136

出　　处：《机床与液压》2024年第15期88-94,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年基金项目(51805228);江苏省高等学校自然科学基金项目(22KJB460021);江苏省高等学校自然科学研究项目(23KJA460006);常州市领军型创新人才引进培育项目(CQ20220089);常州市领军型创新人才引进培育项目(CQ20210093);江苏省研究生科研与实践创新计划项目(XSJCX22_46)。

摘　　要：针对电液负载模拟器在主动加载过程中参数不确定、非线性、易受到外部干扰等导致控制精度较低的问题,提出一种基于模型参考自适应的主动加载力控制方法。根据电液负载模拟器加载系统的工作原理,建立系统的数学模型,通过对参数模型辨识得到系统的传递函数,设计模型参考自适应控制器,并基于李雅普诺夫理论验证控制器的稳定性。最后,通过AMESim和Simulink联合仿真模型对提出的控制方法进行分析。仿真结果表明:与传统PID控制器相比,在不同加载力指令下,模型参考自适应控制器显著提升了加载系统的控制精度和响应速度,加载力误差控制在0.6%以内,有效抑制了外部干扰。In order to solve the problems of low control accuracy caused by uncertain parameters,nonlinearity and susceptibility to external interference in the process of active loading of electro-hydraulic load simulator,an active loading force control method based on model reference adaptive was proposed.According to the working principle of the electro-hydraulic load simulator loading system,the mathematical model of the system was established,the transfer function of the system was obtained by identifying the parameter model.The model reference adaptive controller was designed,and the stability of the controller was verified by the Lyapunov theory.Finally,the proposed control method was analyzed by the AMESim and Simulink co-simulation.The simulation results show that compared with the traditional PID controller,the model reference adaptive controller significantly improves the control accuracy and response speed of the loading system under different loading force instructions,and the loading force error is controlled within 0.6%,which effectively suppresses external interference.

关 键 词：主动加载力 模型参考自适应控制 参数模型辨识 负载模拟器 

分 类 号：TH137[机械工程—机械制造及自动化]