基于指数收敛干扰观测器滑模控制的筒盖开关盖过程模拟
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摘要
在我国舰艇导弹发射装置中,开关盖部分一般采用开环液压单向控制的方式,而液压系统中存在非线性因素和不确定干扰,使得开关盖精度受到较大影响。为提高开关盖控制精度,以电液振动台为控制对象建立模型,利用干扰观测器对干扰力进行观测,并通过滑模控制器进行控制。在试验台上采用设计的滑模控制器进行实验,模拟在受到外界干扰力下的开关盖过程控制。实验表明:与传统的PID控制器相比,该控制策略能更有效地抑制系统多余力,提高开关盖的动作精度。
Switch cover part of our ship missile launch device usually adopts hydraulic system with an action in form of open loop one-way control. Because of various nonlinear factors and uncertain interference in electrohydraulic system,an electro-hydraulic shaking table is set up as the control object. A nonlinear model is weakened and compensated by a sliding mode controller to improve control precision of switch cover system. A test platform is set up,and a controller is designed to simulate process control of switch cover under external interference force.The experimental results show that compared with a traditional PID controller,the control strategy can effectively restrain redundant force of system and improve operation accuracy of switch cover.
Switch cover part of our ship missile launch device usually adopts hydraulic system with an action in form of open loop one-way control. Because of various nonlinear factors and uncertain interference in electrohydraulic system,an electro-hydraulic shaking table is set up as the control object. A nonlinear model is weakened and compensated by a sliding mode controller to improve control precision of switch cover system. A test platform is set up,and a controller is designed to simulate process control of switch cover under external interference force.The experimental results show that compared with a traditional PID controller,the control strategy can effectively restrain redundant force of system and improve operation accuracy of switch cover.
引文
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[2] GUO K,WEI J,FANG J,et al. Position Tracking Control of Electro-hydraulic Single-rod Actuator Based on an Extended Disturbance Observer[J]. Mechatronics,2015,(27):47-56.
[3] CHENG G,ZHU S A. Derivative and Integral Sliding Mode Adaptive Control for a Class of Nonline Arsystem and Its Application to an Electro-hydraulic Servo System[J].Proceedings of the Csee,2005,25(4):103-108.
[4] BO L I,CHEN J,ZHANG W,et al. Research Status of Modelling Identification and Control of Electro-hydraulic Servo System[J]. Machine Tool&Hydraulics,2016,44(13):168-172.
[5]玉洁.电液伺服系统建模及滑模变结构控制方法研究[D].郑州:郑州大学,2015.YU Jie. Research on Sliding Mode Control Based on Electrohydraulic Servo System Modeling[D]. Zhengzhou:Zhengzhou University,2015.
[6]王博,陈万强,李祥阳.电液舵机系统的建模及模型验证研究[J].重庆理工大学学报(自然科学版),2015,29(12):133-137.WANG Bo,CHEN Wanqiang,LI Xiangyang. Modeling and Electro-hydraulic Steering System Model Validation Studies[J]. Journal of Chongqing University of Technology(Natural Science),2015,29(12):133-137.
[7]刘卫萍,熊保玉.船舶动态模拟平台阀控非对称缸系统的建模和特性分析[J].舰船科学技术,2017,(10):110-112.LIU Weiping,XIONG Baoyu. Modeling and Characteristic Analysis of Valve Controlled Asymmetric Cylinder System for Ship Dynamic Simulation Platform[J]. Ship Science and Technology,2017,(10):110-112.
[8]黄海,张国成,杨溢.水下无人航行器机械手系统动力学建模与协调运动轨迹优化[J].上海交通大学学报,2016,50(9):1437-1443.HUANG Hai, ZHANG Guocheng, YANG Yi. Dynamic Modeling and Coordinate Motion Trajectory Optimization for Underwater Vehicle and Manipulator System[J]. Journal of Shanghai Jiaotong University,2016,50(9):1437-1443.
[9]卜祥伟,吴晓燕,陈永兴,等.非线性干扰观测器的高超声速飞行器自适应反演控制[J].国防科技大学学报,2014,(5):44-49.BU Xiangwei, WU Xiaoyan, CHEN Yongxing, et al.Adaptive Backstepping Control of Hypersonic Vehicles Based on Nonlinear Disturbance Observer[J]. Journal of National University of Defense Technology,2014,(5):44-49.
[10]刘龙,姚建勇,胡健,等.基于干扰观测器的电液位置伺服系统跟踪控制[J].兵工学报,2015,(11):2053-2061.LIU Long, YAO Jianyong, HU Jian, et al. Tracking Control for Electro-hydraulic Positioning Servo System Based on Disturbance Observer[J]. Acta Armamentarii,2015,(11):2053-2061.
[11]于靖,陈谋,姜长生.基于干扰观测器的非线性不确定系统自适应滑模控制[J].控制理论与应用,2014,(8):993-999.YU Jing, CHEN Mou, JIANG Changsheng. Adaptive Sliding Mode Control for Nonlinear Uncertain Systems Based on Disturbance Observer[J]. Control Theory&Applications,2014,(8):993-999.
[12]杨立一.基于神经网络干扰观测器的终端滑模飞行控制设计[J].机械工程与自动化,2012,(4):152-154,157.YANG Liyi. Terminal Sliding Mode Flight Control Design Based on Neural Network Disturbance Observer[J].Mechanical Engineering&Automation,2012,(4):152-154,157.
[13]刘柏廷,吴云洁,黄延福.基于模糊干扰观测器的自适应反演滑模控制研究[J].系统仿真学报,2011,(8):1677-1680.LIU Baiting,WU Yunjie,HUANG Yanfu. Research of Adaptive Backstepping Sliding Mode Controller Based on Fuzzy Disturbance Observer[J]. Journal of System Simulation,2011,(8):1677-1680.
[14]崔洋培,吴庆宪,陈谋.基于滑模干扰观测器的空空导弹三维预测制导律设计[J].航天控制,2015,(2):3-8.CUI Yangpei, WU Qingxian, CHEN Mou. Design of Three-dimensional Predictive Guidance Law for Air-to-Air Missiles Based on Sliding Mode Disturbance Observer[J].Aerospace Control,2015,(2):3-8.
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