锻压技术

大型装备电液系统鲁棒控制策略与实验验证

英文标题：Control strategy and experimental verification on robust of electro-hydraulic system in large equipment

作者：高永卫谭建平杨俊

分类号：TP273

出版年,卷(期):页码：2015,40(5):90-95

摘要：

针对大型装备液压系统的非线性、不确定性和现有非线性控制策略很难应用于大型液压装备控制的问题，通过权衡控制策略的复杂性和模型的精确性，将电液系统模型中的不确定参数分解成精确项和不确定项的组合，利用反馈线性化策略控制精确项，利用改进的滑模变结构控制策略补偿参数的不确定项，提出了适用于工业控制器PLC的鲁棒控制策略。并对负载质量变化、系统压力波动、负载力变化、体积模量变化的鲁棒性进行了实验研究。研究结果表明，改进鲁棒控制策略的鲁棒性较好、控制精度高。

For problems such as nonlinearity, uncertainty and existing nonlinear control strategy which are difficult to apply to large hydraulic equipment, the uncertain parameters in electro-hydraulic system model were decomposed into combinations of accurate terms and uncertainties tems by weighing the complexity of control strategy and the accuracy of model. A robust control strategy suitable to industrial PLC was proposed by controlling accurate terms through the feedback from linearization strategy, and compensating uncertain terms through the improving of sliding mode control strategy. The system robustness was experimented under conditions of load mass changes, system pressure fluctuations, load force changes and bulk modulus changes respectively. The results show that the improvement of robust strategy can enhance the system robustness and control accuracy.

基金项目：

国家科技重大专项（2009ZX04005-031）; 高性能复杂制造国家重点实验室自主探索基金（zzyjkt2013）；中南大学中央高校基本科研业务费专项资金资助(2013zzts030)

高永卫（1972-），女，硕士, 副教授

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