电液伺服系统位置跟踪平整度控制策略研究
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摘要
为提高电液伺服系统位置控制跟踪精度,提出一种基于平整度设计方法的控制策略,该设计方法不需要对系统状态变量求导,因而,传感器测量噪声及未建模特性不会被放大,进而可以提高电液伺服系统位置跟踪精度,并且控制方法的设计过程简易;为验证提出的控制器的有效性,搭建了电液伺服系统实验台,对提出的控制策略进行了实验研究,结果证实,与反步控制器及传统的PI控制器相比,提出的控制器能更有效地提高了电液伺服系统位置跟踪精度。
In order to improve the tracking accuracy of the electro-hydraulic servo system positioning control, a flatness based controller is proposed. The proposed controller will not need derivatives of system states. As we all know, derivatives of system states will definitely amplify sensor measurement noises and unmodeled characteristics, which will further decrease the tracking accuracy of controllers. And what's more, the proposed controller will simplify the design process. Firstly, the performance of the proposed method is validated through simulations. The simulation results show that the proposed controller exhibits a better performance than a backstepping controller. Secondly, a hydraulic test rig is established. And some experiments are conducted to validate the performance of the controller. The experimental results demonstrate that the proposed controller exhibits a better performance than a backstepping controller and a conventional PI controller.
In order to improve the tracking accuracy of the electro-hydraulic servo system positioning control, a flatness based controller is proposed. The proposed controller will not need derivatives of system states. As we all know, derivatives of system states will definitely amplify sensor measurement noises and unmodeled characteristics, which will further decrease the tracking accuracy of controllers. And what's more, the proposed controller will simplify the design process. Firstly, the performance of the proposed method is validated through simulations. The simulation results show that the proposed controller exhibits a better performance than a backstepping controller. Secondly, a hydraulic test rig is established. And some experiments are conducted to validate the performance of the controller. The experimental results demonstrate that the proposed controller exhibits a better performance than a backstepping controller and a conventional PI controller.
引文
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[14] RODRIGUEZ-FORTUN J M,ORUS J,ALFONSO J,et al.Flatness-based Active Vibration Control for Piezoele-ctric Actuators [J].IEEE/ASME Transactions on Mecha-tronics,2013,18(1):221-229.
[2] 段锁林,郑剑锋,王雪.线性不确定性电液位置伺服系统的前馈补偿滑模鲁棒跟踪控制研究[J].液压与气动,2015,(11):63-68.DUAN Suolin,ZHENG Jianfeng,WANG Xue.Research on the Robust Tracking Control of Electro-hydraulic Position Servo Systems with Uncertainties by Using Sliding-mode Control with Feed-forword Compensator [J].Chinese Hydraulics & Pneumatics,2015,(11):63-68.
[3] 靳宝全.电液位置伺服控制系统的模糊滑模控制方法研究[D].太原:太原理工大学,2010.JIN Baoquan.Study on the Fuzzy Sliding Mode Control Method of Electro-hydraulic Position Servo Control System [J].Taiyuan:Mining Machinery,2011,39(10):38-42.
[4] CHENG N B,GUAN L W.Position Control of an Electro-hydraulic Servo System Based on Switching Between Nonlinear and Linear Control [C]// IEEE International Conference on Mechatronics & Automation,2014.
[5] KADDISSI C,KENNE J P,SAAD M.Identification and Real-timecControl of an Electrohydraulic Servo System Based on Nonlinear Backstepping [J].IEEE/ASME Transactions on Mechatronics,2007,12(1):12-22.
[6] AHN K K,NAM D N C,JIN M.Adaptive Backstepping Control of an Electrohydraulic Actuator [J].IEEE/ASME Transactions on Mechatronics,2014,19(3):987-995.
[7] WON D,KIM W,SHIN D,et al.High-gain Disturbance Observer-based Backstepping Control with Output Tracking Error Constraint for Electro-hydraulic Systems [J].IEEE Transactions on Control Systems Technology,2015,23(2):787-795.
[8] 方一鸣,石胜利,李建雄,等.基于指令滤波的电液伺服系统自适应反步控制[J].电机与控制学报,2013,17(9):105-110.FANG Yiming,SHI Shengli,LI Jianxiong,et al.Adaptive Backstepping Control for Electro-hydraulic Servo System with Input Saturation Based on Command Filter [J].2013,17(9):105-110.
[9] 芮光超,侯冬冬,沈刚.基于反步控制的非线性干扰观测器的外部不确定干扰的电液位置伺服系统[J].机床与液压,2017,45(18):136-142.RUI Guangchao,HOU Dongdong,SHEN Gang.A Nonlinear Disturbance Observer Based on Backstepping Control for an Electro-hydraulic Servo System with External Uncertain Disturbances [J].Machine Tool & Hydraulic,2017,45(18):136-142.
[10] FLIESS M.Flatness and Defect of Non-linear Systems:Introductory Theory and Examples [J].International Journal of Control,2003,61(6):1327-1361.
[11] KOO T J,SASTRY S.Differential Flatness Based Full Authority Helicopter Control Design [C]// IEEE Conference on Decision & Control.IEEE,2002.
[12] MAHADEVAN R,AGRAWAL S K,LII F J D.Differ-ential Flatness Based Nonlinear Predictive Control of Fed-batch Bioreactors [J].Control Engineering Practice,2001,9(8):889-899.
[13] HOUARI A,RENAUDINEAU H,MARTIN J P,et al.Flatness-based Control of Three-phase Inverter with Output LC Filter [J].IEEE Transactions on Industrial Elect-ronics,2012,59(7):2890-2897.
[14] RODRIGUEZ-FORTUN J M,ORUS J,ALFONSO J,et al.Flatness-based Active Vibration Control for Piezoele-ctric Actuators [J].IEEE/ASME Transactions on Mecha-tronics,2013,18(1):221-229.