用于驱动液压缸活塞运动轨迹跟踪的二阶滑模控制

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英文篇名：Two order sliding mode control for driving trajectory tracking of hydraulic cylinder piston 作者：赵春红 ; 张洛平 英文作者：ZHAO Chunhong;ZHANG Luoping;Department of Mechanical Engineering,Shanxi Polytechnic College;School of Mechanical and Electrical Engineering,Henan University of Science and Technology; 关键词：电液阀 ; 活塞 ; 二阶滑模控制 ; 误差 ; 仿真 英文关键词：electro-hydraulic valve;;piston;;two order sliding mode control;;error;;simulation 中文刊名：GCHE 英文刊名：Chinese Journal of Construction Machinery 机构：山西职业技术学院机械工程系;河南科技大学机电工程学院; 出版日期：2019-08-05 出版单位：中国工程机械学报 年：2019 期：v.17 基金：河南省重点科技攻关资助项目(112102210436) 语种：中文; 页：GCHE201904005 页数：5 CN：04 ISSN：31-1926/TH 分类号：33-37

摘要

为了提高驱动液压缸活塞运动轨迹输出精度,采用二阶滑模控制电液阀缸,并对活塞运动轨迹跟踪误差进行仿真.建立电液阀液压缸驱动模型简图,推导出活塞运动方程式.引用二阶滑模控制算法,给出二阶滑模控制收敛条件,分析控制系统输出的稳定性.采用Matlab软件对二阶滑模控制活塞运动轨迹跟踪误差进行仿真,并与传统PID控制方法进行对比分析.仿真结果显示:在无波形干扰环境中,采用传统PID控制和二阶滑模控制,活塞运动轨迹能够较好地跟踪期望运动轨迹;在有波形干扰环境中,传统PID控制活塞运动轨迹产生的误差较大,二阶滑模控制活塞运动轨迹产生的误差较小.采用二阶滑模控制电液阀缸驱动挖掘机臂,能够抑制外界波形的干扰,提高控制系统的稳定性.
        In order to improve the accuracy of piston motion track output,second order sliding mode is used to control the electro-hydraulic valve cylinder,and the tracking error of piston motion track is simulated.A schematic diagram of electric hydraulic cylinder drive model is established to derive the piston motion equation.By using the second-order sliding mode control algorithm,the convergence condition of the second-order sliding mode control is given,and the stability of the output of the control system is analyzed.Matlab software was used to simulate the track tracking error of second order sliding mode control piston,and compared and analyzed with the traditional PID control method.The simulation results show that in the environment without waveform interference,the piston motion track can track the desired motion track well using the traditional PID control and the second-order sliding mode control.In the environment with waveform interference,the error caused by the traditional PID control is large,while the error produced by the second-order sliding mode control is small.Second order sliding mode is used to control the electric hydraulic valve cylinder to drive the excavator arm.

引文

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