液压机非线性控制方法的若干问题研究
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摘要
基于非线性模型的液压机高精度控制一直是该领域的研究热点和难点，这主要是因为该领域尚存在一些关键问题至今仍未得到较好解决，而与之相关的高效非线性控制策略研究亦有待完善和深入。为此，本文围绕液压机非线性控制方法的若干问题，开展了以下几方面的研究工作：
1.针对目前主流非线性控制方法仍然存在控制策略推导复杂、参数引入过多、对象特点针对性不强等问题，本文提出了基于Lyapunov直接法的控制器设计方法，为一类电液伺服系统找到了相应的Lyapunov函数，并给出了确定相关参数的具体方法，所设计的控制律保证了系统的收敛及稳定性，为该领域的控制方法研究提供了新的设计思路；
2.针对单缸液压机系统存在的较强负载扰动及参数不确定性等问题，本文为一类具有非正则高阶模型的单缸液压系统设计了基于已知干扰上确界的滑模自适应控制器，在保证滑模面可达的条件下，给出了增益及不确定参数的具体设计方法，使系统实现高精度跟踪的同时，获得了较强的鲁棒性；
3.通过对多缸液压机的组成及原理分析，给出了多缸液压机数学模型的一般描述，构建了统一的标准模型，为各类多缸液压机模型的进一步建立奠定了基础，并以五缸及四缸系统为例，给出了其具体建模过程；
4.鉴于多缸液压机的过驱动问题研究至今仍为空白，本文深入探讨多缸液压机的冗余控制方法，提出了采用控制分配理论解决多缸液压机出力分配问题的控制策略，并形成了以控制分配为纽带的多级控制器设计思路，解决了多点调平问题；在此基础上，探索了基于动态控制分配策略的控制器设计方法，仿真实验证明各个液压缸得到了变化更为平缓的出力分配结果，改善了因负载力跳变等因素引起的液压缸冲击问题。
5.探讨了多缸液压机的容错控制问题，提出通过考虑故障信息的容错控制分配方法，充分调动非故障状态执行器输出能力，以解决系统出现的局部故障问题，使得系统的原有性能得到完好的保持。
综合以上研究成果，本文针对液压机非线性控制的若干问题，提出了一系列新型控制器设计策略，改善了传统控制器设计存在的缺陷，解决了液压机的出力分配、多点调平及容错控制等问题，为实现液压机的高性能控制提供了理论依据，推进了液压机非线性控制方法的进一步研究与发展。
High accuracy control of hydraulic press based on nonlinear model are thedifficulty and hotspot in recent years.The reason is that there are some key issues arenot solved ideally,and the relevant efficient nonlinear control method is still needed tobe developed.So some research was carried out against the issues around the nonlinearcontrol method of hydraulic press in this paper:
1. A control scheme based on Lyapunov’s direct method was proposed for a classof electro-hydraulic servo system.The scheme improve the problems such ascomplex derivation,too many parameters and vague target,and find the appropriateLyapunov function and parameters.The design method ensures the stability of thesystem.
2. A adaptive sliding mode controller was designed based on the interferencesupremum for a single cylinder hydraulic press which had a high-level non-canonicalform.This methods was mainly proposed against the problems such as strong loaddisturbance and parameter uncertainty.The specific design method on the gain anduncertain parameter was given to ensure the reaching condition of sliding surface.Theresult proves that the proposed scheme can realize high accuracy track and have abetter robustness.
3. By analysis of compositon and principle,a general description ofmulti-cylinder hydraulic press model was given,and a unified standard model wasformed.After that,a specific modeling process for four and five cylinders press wasgiven.
4. The redundant control method was investigated deeply against theoveractuated problems of multi-cylinder hydraulic press.A control scheme based oncontrol allocation theory was proposed to solve the force allocation problem,and amulti-level design idea which take the control allocation as a link was formed.Thescheme can deal with multi-point leveling problem.Then a dynamic control allocationmethod for multi-cylinder hydraulic press was explored,the simulation proves that thecylinder can get a more gentle allocation result,and the hydraulic cylinder impactproblem is improved which may be caused by the load force transition.
5. The fault tolerant control research for multi-cylinder hydraulic press wasexplored,and a fault tolerant control allocation method which considers the fault information was proposed.By mobilize the actuator output capability of non-failedstate,the original performance of the system was retained intact.
In summary research,a series novel control scheme were proposed againstrelevant problems of nonlinear control method about hydraulic press.The design flawsof traditional control scheme was improved,and the problems of force allcation、multi-point leveling、fault tolerant control were solved effectively.The researchachievement can provide a theoretical basis for high-performance control of hydraulicpress,and promote the further research and development of nonlinear control methodabout hydraulic press.
1.针对目前主流非线性控制方法仍然存在控制策略推导复杂、参数引入过多、对象特点针对性不强等问题，本文提出了基于Lyapunov直接法的控制器设计方法，为一类电液伺服系统找到了相应的Lyapunov函数，并给出了确定相关参数的具体方法，所设计的控制律保证了系统的收敛及稳定性，为该领域的控制方法研究提供了新的设计思路；
2.针对单缸液压机系统存在的较强负载扰动及参数不确定性等问题，本文为一类具有非正则高阶模型的单缸液压系统设计了基于已知干扰上确界的滑模自适应控制器，在保证滑模面可达的条件下，给出了增益及不确定参数的具体设计方法，使系统实现高精度跟踪的同时，获得了较强的鲁棒性；
3.通过对多缸液压机的组成及原理分析，给出了多缸液压机数学模型的一般描述，构建了统一的标准模型，为各类多缸液压机模型的进一步建立奠定了基础，并以五缸及四缸系统为例，给出了其具体建模过程；
4.鉴于多缸液压机的过驱动问题研究至今仍为空白，本文深入探讨多缸液压机的冗余控制方法，提出了采用控制分配理论解决多缸液压机出力分配问题的控制策略，并形成了以控制分配为纽带的多级控制器设计思路，解决了多点调平问题；在此基础上，探索了基于动态控制分配策略的控制器设计方法，仿真实验证明各个液压缸得到了变化更为平缓的出力分配结果，改善了因负载力跳变等因素引起的液压缸冲击问题。
5.探讨了多缸液压机的容错控制问题，提出通过考虑故障信息的容错控制分配方法，充分调动非故障状态执行器输出能力，以解决系统出现的局部故障问题，使得系统的原有性能得到完好的保持。
综合以上研究成果，本文针对液压机非线性控制的若干问题，提出了一系列新型控制器设计策略，改善了传统控制器设计存在的缺陷，解决了液压机的出力分配、多点调平及容错控制等问题，为实现液压机的高性能控制提供了理论依据，推进了液压机非线性控制方法的进一步研究与发展。
High accuracy control of hydraulic press based on nonlinear model are thedifficulty and hotspot in recent years.The reason is that there are some key issues arenot solved ideally,and the relevant efficient nonlinear control method is still needed tobe developed.So some research was carried out against the issues around the nonlinearcontrol method of hydraulic press in this paper:
1. A control scheme based on Lyapunov’s direct method was proposed for a classof electro-hydraulic servo system.The scheme improve the problems such ascomplex derivation,too many parameters and vague target,and find the appropriateLyapunov function and parameters.The design method ensures the stability of thesystem.
2. A adaptive sliding mode controller was designed based on the interferencesupremum for a single cylinder hydraulic press which had a high-level non-canonicalform.This methods was mainly proposed against the problems such as strong loaddisturbance and parameter uncertainty.The specific design method on the gain anduncertain parameter was given to ensure the reaching condition of sliding surface.Theresult proves that the proposed scheme can realize high accuracy track and have abetter robustness.
3. By analysis of compositon and principle,a general description ofmulti-cylinder hydraulic press model was given,and a unified standard model wasformed.After that,a specific modeling process for four and five cylinders press wasgiven.
4. The redundant control method was investigated deeply against theoveractuated problems of multi-cylinder hydraulic press.A control scheme based oncontrol allocation theory was proposed to solve the force allocation problem,and amulti-level design idea which take the control allocation as a link was formed.Thescheme can deal with multi-point leveling problem.Then a dynamic control allocationmethod for multi-cylinder hydraulic press was explored,the simulation proves that thecylinder can get a more gentle allocation result,and the hydraulic cylinder impactproblem is improved which may be caused by the load force transition.
5. The fault tolerant control research for multi-cylinder hydraulic press wasexplored,and a fault tolerant control allocation method which considers the fault information was proposed.By mobilize the actuator output capability of non-failedstate,the original performance of the system was retained intact.
In summary research,a series novel control scheme were proposed againstrelevant problems of nonlinear control method about hydraulic press.The design flawsof traditional control scheme was improved,and the problems of force allcation、multi-point leveling、fault tolerant control were solved effectively.The researchachievement can provide a theoretical basis for high-performance control of hydraulicpress,and promote the further research and development of nonlinear control methodabout hydraulic press.
引文
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