基于交叉耦合的液压伺服系统积分鲁棒协同控制  

Integral Robust Collaborative Control of Hydraulic Servo System Based on Cross-Coupling

作　　者：樊雕 刘昊 速映 FAN Diao;LIU Hao;SU Ying(Kunming Shipborne Equipment Research&Test Center,Kunming Yunnan 650051,China)

机构地区：[1]昆明船舶设备研究试验中心,云南昆明650051

出　　处：《机床与液压》2025年第4期81-87,共7页Machine Tool & Hydraulics

摘　　要：针对含有未知系统动态、外部时变干扰及作用力纷争的4台液压马达位置同步控制系统,提出一种基于相邻交叉耦合控制的积分鲁棒协同控制策略。将被控平台划分为4台液压马达独立控制的位置伺服系统,设计积分鲁棒控制策略处理系统匹配的和不匹配的模型不确定性,实现单液压马达驱动系统的高精度轨迹跟踪性能。同时,采用PI耦合控制器补偿相邻两液压马达之间的位置误差或作用力误差,从而实现4台液压马达协同控制的目的。基于Lyapunov稳定性理论证明了单液压马达伺服系统的稳定性。最终,通过联合仿真验证了所提控制策略的有效性。For the position synchronization control system of four hydraulic motors with unknown system dynamics,external time-varying disturbances and force disputes,an integral robust collaborative control strategy based on adjacent cross-coupling control was proposed.The controlled platform was divided into four position servo systems independently controlled by hydraulic motors,and an integral robust control strategy was designed to deal with the matching and mismatch model uncertainties of the system,then the high precision trajectory tracking performance of the single hydraulic motor driven system was achieved.At the same time,PI coupling controller was used to compensate the position error or force error between two adjacent hydraulic motors to realize the purpose of cooperative control of four hydraulic motors.The stability of the single hydraulic motor servo system was proved based on Lyapunov stability theory.Finally,the effectiveness of the proposed control strategy was verified by co-simulation.

关 键 词：液压伺服系统 交叉耦合 积分鲁棒控制 协同控制 联合仿真 

分 类 号：TH137[机械工程—机械制造及自动化]