基于互联与阻尼分配框架的电液伺服系统轨迹跟踪策略  

Trajectory tracking control of electro-hydraulic servo system based on interconnection and damping assignment framework

作　　者：聂楸晓 陈剑 龚俊杰 吴晓暄 龙雨 NIE Qiuxiao;CHEN Jian;GONG Junjie;WU Xiaoxuan;LONG Yu(School of Mechanical Engineering,Guangxi University,Nanning 530004,China;School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004 [2]浙江大学机械工程学院,浙江杭州310027

出　　处：《机电工程》2024年第10期1865-1874,共10页Journal of Mechanical & Electrical Engineering

基　　金：国家重点研发计划项目(2021YFE0203500);中央财政引导地方科技发展专项(GKZY21195029);广西重点研发计划项目(AB20325004,AB23026101)。

摘　　要：在中大型挖掘机电液伺服系统中存在复杂耦合非线性、模型不确定性,以及外部载荷不确定性等因素,都会造成挖掘机轨迹跟踪误差大,导致电液伺服系统的动态性能差。针对这一问题,提出了一种基于互联和阻尼分配(IDA)框架的反演控制器,以提高挖掘机工作装置在挖掘任务中的跟踪性能,并加强其鲁棒性。首先,利用先导阀、阀控非对称缸和阀控非对称缸模型构建了电液伺服系统的状态空间模型,并进一步基于哈密顿理论将该状态空间模型构造为具有扰动的三阶开环端口哈密顿系统(pH)。根据从pH系统中获得的互联矩阵和阻尼矩阵结构,逐步设计了虚拟控制信号,得到了控制律;然后,构造了一个匹配方程,以简化在其他系统上的设计和计算过程,并将期望的能量函数作为候选李雅普诺夫函数,根据李雅普诺夫稳定性定理证明了闭环系统在期望轨迹上的收敛性和稳定性;最后,以挖掘机铲斗及其电液伺服系统为对象,采用数值仿真实验验证了基于IDA框架的反演控制算法的轨迹跟踪性能。研究结果表明:在不考虑模型不确定性的情况下,所提出的控制器与其他三种控制器相比,在位置控制上的收敛速度可提高1.9%~6.3%;在轨迹跟踪上可保持优秀的收敛速度,且最大跟踪误差降低70%~81%;在模型不确定和时变负载的情况下,所提出的控制器与其他三种控制器相比,面对冲击时的最大跟踪误差仅增加0.004 m,调节所需控制输入降低4%~20%。这表明上述控制算法具有更优秀的综合跟踪性能和更强的鲁棒性。The complex coupling nonlinearity,model uncertainty,and external load uncertainty of the electro-hydraulic servo system of medium and large excavators resulted in large trajectory tracking errors and poor dynamic performance of the system.A backstepping controller based on interconnection and damping assignment(IDA)framework was proposed to improve the tracking performance and robustness of excavator working devices in mining tasks.Firstly,a state space model of the electro-hydraulic servo system was constructed using pilot valve,valve controlled asymmetric cylinder,and valve controlled asymmetric cylinder models.Furthermore,based on Hamiltonian theory,the state space model was constructed as a third order open-loop port Hamiltonian(pH)system with disturbances.Based on the interconnection matrix and damping matrix structure obtained from the pH system,the virtual control signal was gradually designed and the control law was ultimately obtained.Then,a matching equation was constructed to simplify the design and calculation process on other systems,and the expected energy function was used as a candidate Lyapunov function.Based on the Lyapunov stability theorem,the convergence and stability of the closed-loop system at the expected trajectory were proved.Finally,the trajectory tracking performance of the proposed control algorithm was verified through numerical simulation experiments on the excavator bucket and its electro-hydraulic servo system.The research results show that,without considering model uncertainty,the proposed controller improves convergence speed in position control by 1.9%to 6.3%compared to the other three controllers;maintaining excellent convergence speed in trajectory tracking while reducing maximum tracking error by 70%to 81%.In the case of model uncertainty and time-varying loads,the maximum tracking error in the face of impact only increases by 0.004 m,and the required control input for adjustment is reduced by 4%to 20%.The above results indicate that the proposed control algorithm has bette

关 键 词：挖掘机 电液伺服系统 铲斗系统 先导系统模型 阀控非对称缸模型 互联阻尼分配的无源控制(IDA-PBC) 反演控制器 

分 类 号：TH137.51[机械工程—机械制造及自动化] TU621[建筑科学—建筑技术科学]