基于扩张观测器的直接/间接自适应鲁棒双缸同步控制  

Direct/Indirect Adaptive Robust Dual-cylinder Synchronization Control Based on Expanded Observer

作　　者：许诚[1] 陈正[2] 聂勇[1,3] 唐建中[1,3] 童心 XU Cheng;CHEN Zheng;NIE Yong;TANG Jianzhong;TONG Xin(School of Mechanical Engineering,Zhejiang University,Hangzhou,Zhejiang 310058;Ocean College,Zhejiang University,Zhoushan,Zhejiang 316021;The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027)

机构地区：[1]浙江大学机械工程学院,浙江杭州310058 [2]浙江大学海洋学院,浙江舟山316021 [3]浙江大学流体动力基础件与机电系统全国重点试验室,浙江杭州310027

出　　处：《液压与气动》2025年第2期25-35,共11页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2023YFC2809901)。

摘　　要：为提高负载不均衡、模型参数时变的双液压缸驱动系统的同步控制精度,通过设计“同步阀+旁路比例阀”的液压系统,结合自适应鲁棒控制实现了双缸精确同步控制。在建立双缸驱动系统非线性数学模型的基础上,设计了基于扩张观测器的直接/间接自适应鲁棒控制器,建立了系统的仿真模型并进行了联合仿真试验研究。结果表明,所设计的双缸驱动同步控制系统能有效降低负载不均衡和未知扰动的影响,快速跟踪负载偏差,实现了高精度的双缸同步控制。In order to improve the synchronization control accuracy of the dual hydraulic cylinder drive system with unbalanced load and time-varying model parameters,the hydraulic system of“synchronous valve+bypass proportional valve”is designed,combined with adaptive robust control to achieve precise synchronization control of the dual-cylinder.On the basis of establishing the nonlinear mathematical model of the dual-cylinder drive system,a direct/indirect adaptive robust controller based on an expanded observer is designed,a simulation model of the system is established,and a joint simulation test study is conducted.The results show that the designed dual-cylinder drive synchronization control system can effectively reduce the impact of unbalanced load and unknown disturbances,track load deviations quickly,and achieve high-precision dual-cylinder synchronization control.

关 键 词：双缸同步控制 扩张观测器 直接/间接自适应鲁棒控制 

分 类 号：TH137[机械工程—机械制造及自动化]