基于滑模扰动观测器的阀控缸增量式模型预测控制  

Incremental Model Predictive Control of Valve-Controlled Cylinder Based on Sliding Mode Perturbation Observer

作　　者：王瑞 强红宾 康绍鹏 刘凯磊 杜亮亮 Wang Rui;Qiang Hongbin;Kang Shaopeng;Liu Kailei;Du Liangliang(School of Mechanical Engineering,Jiangsu Institute of Technology,Changzhou Jiangsu 213001,China)

机构地区：[1]江苏理工学院机械工程学院,江苏常州213001

出　　处：《机械管理开发》2024年第10期12-15,共4页Mechanical Management and Development

基　　金：国家自然科学基金项目(51805228);江苏省高等学校基础科学(自然科学)研究项目(22KJB460021,23KJA460006);常州市领军型创新人才引进培育项目(CQ20210093,CQ20220089)。

摘　　要：在强扰动环境下,阀控非对称液压缸采用模型预测控制会存在性能下降和静态误差等问题,并提出了一种新的方法来解决这些问题。该方法基于滑模扰动观测器,用于阀控非对称液压缸的增量式模型预测控制。首先,建立非对称缸的非线性数学模型,并将其反馈线性化,然后,将线性化模型增量化作为预测模型,以减小系统静态误差,接着,根据液压缸力平衡方程设计滑模扰动观测器,并将观测的负载扰动值用于前馈补偿。仿真结果表明,滑模扰动观测器对负载扰动的观测估计快速、准确;所提出的控制方法使系统的动态响应特性得到提高。通过仿真,与非增量式模型预测控制进行对比,所提方法响应速度快、稳态误差小,对负载变化的抗扰动性强,有效提高了位移跟踪精度。Under the strong disturbance environment,valve-controlled asymmetric hydraulic cylinders with model predictive control suffer from performance degradation and static errors,and a new method is proposed to solve these problems.The method is based on a sliding mode perturbation observer for incremental model predictive control of a valve-controlled asymmetric hydraulic cylinder.Firstly,the nonlinear mathematical model of the asymmetric cylinder is established and feedback linearised,then,the linearised model is incrementally used as a prediction model to reduce the system static error,then,the sliding mode perturbation observer is designed based on the force balance equation of the hydraulic cylinder and the observed load perturbation values are used for feed-forward compensation.The simulation results show that the observed estimation of load disturbance by the sliding mode disturbance observer is fast and accurate;the dynamic response characteristics of the system are improved by the proposed control method.Through simulation and comparison with the non-incremental model predictive control,the proposed method has fast response speed,small steady state eror,strong anti-disturbance to the load change,and effectively improves the displacement tracking accuracy.

关 键 词：阀控非对称液压缸 增量式模型预测控制 滑模扰动观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]