基于模型参考自适应控制的挖掘机动臂控制特性研究  

Study on Control Characteristics of Excavator Boom Based on Model Reference Adaptive Control

作　　者：陈茂泽 刘凯磊 强红宾 康绍鹏 钟海防 张钰琦 CHEN Maoze;LIU Kailei;QIANG Hongbin;KANG Shaopeng;ZHONG Haifang;ZHANG Yuqi(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou Jiangsu 213001,China;Sinotruk International Co.,Ltd.,Jinan Shandong 250102,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]中国重型汽车集团有限公司,山东济南250102 [3]江苏大学流体机械工程技术研究中心,江苏镇江212013 [4]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24期27-34,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51805228);江苏省高等学校自然科学基金项目(22KJB460021);常州市科技支撑计划(社会发展)(CE20209002);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(SJCX22_1476)。

摘　　要：针对非线性因素导致的挖掘机动臂自动挖掘时位置控制不稳定的问题,提出一种添加扩展状态观测器的模型参考自适应抑制干扰的方法。建立动臂的电液控制数学模型,搭建仿真模型,采集优秀的控制曲线进行参数辨识,得到具体的传递函数,并以此传递函数作为参考模型。针对不确定的干扰引入扩展状态观测器,并将被控对象的不确定性和外部扰动等同于总扰动。使用遗传粒子群优化算法对控制参数进行优化,最后进行仿真和实验验证。仿真和实验结果表明:相比普通的模型参考自适应控制,使用GAPSO和ESO的模型参考自适应控制的精度、抗干扰能力以及稳定性有很大提升。In addressing the issue of unstable position control of excavator booms caused by nonlinear factors,a model reference adaptive disturbance suppression method was proposed by incorporating an extended state observer(ESO).A mathematical model for the electro-hydraulic control of the boom was established,and a simulation model was constructed.Excellent control curves were collected for parameter identification to determine the specific transfer function,which was used as the reference model.To address uncertain disturbances,an ESO was introduced,and the uncertainties and external disturbances of the controlled object were treated as total disturbances.The genetic algorithm particle swarm optimization(GAPSO)was employed for control parameter optimization.Finally,simulation and experimental verification were conducted.The results demonstrate that the model reference adaptive control using GAPSO and ESO significantly improves precision,anti-interference capability and stability compared to traditional model reference adaptive control.

关 键 词：模型参考自适应 扩展状态观测器 参数辨识 动臂 遗传粒子群优化 

分 类 号：TU621[建筑科学—建筑技术科学]