电液伺服系统动态柔性变结构比例微分复合控制研究  

Research on Dynamic Flexible Variable Structure Proportional Derivative Composite Control of Electro-hydraulic Servo System

作　　者：王晓晶 王小龙 高汶韬 冯亚铭 WANG Xiaojing;WANG Xiaolong;GAO Wentao;FENG Yaming(Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicle,Beijing University of Civil Engineering and Architecture,Beijing 100044;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing University of Civil Engineering and Architecture,Beijing 100044;School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin,Heilongjiang 150080)

机构地区：[1]北京建筑大学城市轨道交通车辆服役性能保障北京市重点实验室,北京100044 [2]北京建筑大学北京市建筑安全监测工程技术研究中心,北京100044 [3]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080

出　　处：《液压与气动》2025年第1期20-29,共10页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金面上项目(52375037);北京建筑大学杰出青年基金(GDRC20220801);北京建筑大学研究生创新基金(PG2024142);北京建筑大学培育项目专项资金资助(X24026)。

摘　　要：针对摩擦干扰等不确定非线性因素对连续旋转电液伺服系统控制性能的影响,建立了马达系统模型及其摩擦力矩模型。采用改进麻雀搜寻算法进行比例微分控制器参数调优,确定了一种基于摩擦前馈补偿的简化动态柔性变结构比例微分复合控制策略。该控制器提高了超低速和高频响应性能,系统频率响应达到了11 Hz。在工业计算机系统上利用C++Builder编程的可视化界面对实验结果与仿真进行对比,验证了控制效果。尽管实验中的控制性能相较于仿真略有下降,尤其是在高频情况下,但系统仍表现出较好的控制精度。研究结果为连续旋转电液伺服马达的控制提供了理论和实验依据。The impact of uncertain nonlinear factors such as friction disturbances on the control performance of continuous rotary electro-hydraulic servo systems is addressed by establishing a motor system model and its friction torque model.This study used an improved sparrow search algorithm to optimize the parameters of the proportional derivative controller and determined a simplified dynamic flexible variable structure proportional derivative composite control strategy based on friction feedforward compensation.This controller significantly enhanced ultralow speed and high-frequency response performance,achieving a system frequency response of 11 Hz.A visual interface programmed with C++Builder on an industrial computer system,is used to compare experimental results with simulations,validating the control effectiveness.Although a slight performance reduction is observed in the experiment compared to the simulation,especially under high-frequency conditions,the system still demonstrated good control accuracy.The findings provide theoretical and experimental support for the control of continuous rotary electro-hydraulic servo motors,contributing to advancements in the related engineering field.

关 键 词：连续回转电液伺服马达 摩擦力矩模型 动态柔性变结构控制 

分 类 号：TH137[机械工程—机械制造及自动化]