锻压技术

基于二级控制器的重型锻造液压机同步控制

英文标题：Heavy-duty forging hydraulic press synchronous control based on secondary controller

作者：裴红蕾刘刚赵翠萍

单位：无锡工艺职业技术学院

分类号：TP23

出版年,卷(期):页码：2019,44(1):118-122

摘要：

为了提高重型锻造液压机同步控制精度，分别设计了由内环压力控制和外环位置控制级联的二级控制器。建立了多缸单动液压机压力动态模型和滑块位置动态模型；对于内环压力控制器，构造了李雅普诺夫函数，解算了油腔压力控制率；对于外环位置控制器，由于液压系统负载具有不确定性，设计了不确定负载的自适应控制系统，通过构建位置跟踪子系统的李雅普诺夫函数，解算出自适应控制率，同时估计出负载值，通过控制分配方法将自适应控制率转换为各油腔油压期望值。经仿真验证，设计的二级控制器对恒定的不确定负载可以实现无误差估计，在1 s内实现高精度调平，调平误差控制在1.6×10-5 rad以内，1 s内实现对滑块位移的跟踪，且位移误差在1.5×10-4 m以内。

To improve the synchronous control accuracy of heavy-duty forging hydraulic press, a secondary controller including inner ring pressure controller and outer ring position controller was designed, and a dynamic model of pressure for multi-cylinder single action hydraulic press and a dynamic model of sliding block location were built. For the inner ring pressure controller, the Lyapunov function was configured to calculate the control rate of oil chamber pressure. However, for the outer ring position controller, because the load of hydraulic system was uncertain, the adaptive control system with uncertain load was designed. Through constructing the Lyapunov function of location tracking subsystem, the adaptive control rate was solved, at the same time, the load value was estimated, and the adaptive control rate was transferred into pressure expected value of each oil chamber by controlling allocation method. The simulation verification shows that the designed secondary controller can evaluate the constant uncertain load error-freely and overcome high accuracy leveling within 1 s, and the leveling error is within 1.6×10-5 rad. Besides, the secondary controller can track sliding block location within 1 s, and the location tracking error is within 1.5×10-4 m.

基金项目：

江苏省大学生创新创业训练计划项目(201713749001Y)

裴红蕾（1982-），女，硕士，讲师，E-mail：463400135@qq.com

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