基于滑模变结构控制的液压马达速度鲁棒控制研究  

Research on Robust Control of Hydraulic Motor Speed Based on Sliding Mode Variable Structure Control

作　　者：毛汉源 张记烽 MAO Hanyuan;ZHANG Jifeng(Military Representative Office of Haizhuang Shenyang Bureau stationed in Huludao,Huludao 125000)

机构地区：[1]海装沈阳局驻葫芦岛地区军事代表室,葫芦岛125000

出　　处：《现代制造技术与装备》2024年第11期31-33,共3页Modern Manufacturing Technology and Equipment

摘　　要：为了实现液压马达速度鲁棒控制的目标,提高液压系统的运行效率和稳定性,开展滑模变结构控制的液压马达速度鲁棒控制研究。建立液压马达的数学模型,设计滑模控制器,基于滑模变结构控制对液压马达速度实行鲁棒控制,以提高液压马达在面临不确定性和外部扰动时的稳定性和性能。实验结果表明,应用该控制方法,在液压马达运行的初始阶段就能紧密跟随理想信号的速度变化,速度控制精度较高,且在整个仿真周期内,始终保持极小的速度跟踪误差,无异常波动现象。这充分证明了该控制方法强大的健壮性和优异的控制效能。In order to achieve the goal of hydraulic motor speed robust control and improve the operating efficiency and stability of hydraulic system,the research of hydraulic motor speed robust control based on sliding mode variable structure control is carried out.The mathematical model of the hydraulic motor is established,and the sliding mode controller is designed to implement robust control of the hydraulic motor speed based on sliding mode variable structure control,so as to improve the stability and performance of the hydraulic motor in the face of uncertainty and external disturbance.The experimental results show that the control method can closely follow the speed change of the ideal signal in the initial stage of the operation of the hydraulic motor,and the speed control precision is high,and the speed tracking error is always very small in the whole simulation cycle,without abnormal fluctuation phenomenon.This fully proves the robustness and excellent control efficiency of this control method.

关 键 词：滑模变结构控制 液压马达 速度鲁棒控制 

分 类 号：TH137.51[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]