锻压技术

考虑多变负载扰动的电液系统速度追踪控制

英文标题：Speed tracking control on electro-hydraulic system considering variable load disturbance

作者：许文斌曾乐周密乐

分类号：TH117

出版年,卷(期):页码：2022,47(8):163-170

摘要：

成形速度是影响金属成形性能的关键因素之一。为了提高成形速度的稳定性，改善金属成形质量，考虑电液系统多变负载扰动，构建了电液系统动力学模型。对成形过程中的不同工况进行了负载模拟，建立了表征系统不同阶段特性的动力学分段子模型。通过引入边界层函数代替符号函数设计了切换控制律，对多变负载扰动增加补偿项。基于鲁棒反馈线性化控制提出了统一切换控制策略。通过仿真和实验对比,分析了统一切换控制、PD控制、鲁棒控制在不同负载状态及不同成形速度下的系统响应。结果表明：统一切换控制可以提高系统速度控制的精度和鲁棒性，验证了统一切换控制策略对多变负载扰动抑制的有效性。

Forming speed is one of the key factors affecting metal forming performance. Therefore, in order to improve the stability of forming speed and the quality of metal forming, a dynamic model of electro-hydraulic system was established considering the variable load disturbance electro-hydraulic system. Then, the load simulation of the forming process was carried out under different working conditions, and the dynamic segmented sub-models representing the characteristics of the system at different stages were established. Furthermore, the switching control law was designed by introducing the boundary layer function to replace the sign function, and the compensation term was added to the variable load disturbance. Finally, based on robust feedback linearization control, the unified switching control strategy was proposed, and the system responses of unified switching control, PD control and robust control under different load states and different forming speeds were compared and analyzed by simulation and experiment. The results show that the unified switching control can improve the accuracy and robustness of the system speed control, and the effectiveness of the unified switching control strategy for suppression of the variable load disturbance is verified.

基金项目：

湖南省科教联合基金项目(2020JJ7084)

作者简介：许文斌(1977-)，男，硕士，副教授，E-mail：xwb_770210@126.com

参考文献：

[1]刘凯磊, 李兴成, 陈菊芳, 等. 大型液压机负载口独立调平控制系统研究[J]. 机械科学与技术, 2019,38(4):522-529.

Liu K L, Li X C, Chen J F, et al. Research on independent metering leveling control system of large hydraulic press[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(4): 522-529.

[2]赵长财, 杨盛福, 刘培培, 等. 大型模锻液压机平衡系统原理及其理论研究[J]. 机械工程学报, 2012,48(10):82-89.

Zhao C C,Yang S F,Liu P P,et al. Principle and theoretical analysis of the balancing system for large die forging hydraulic press[J]. Journal of Mechanical Engineering， 2012, 48(10): 82-89.

[3]王玄, 陶建峰, 张峰榕, 等. 基于预测控制的单向比例泵控非对称液压缸系统控制方法[J]. 上海交通大学学报,2016,50(5):696-701.

Wang X,Tao J F,Zhang F R, et al. Unidirectional proportional pump controlled asymmetric cylinder control method based on predictive control[J]. Journal of Shanghai Jiaotong University,2016,50(5): 696-701.

[4]Komsta J, Oijen N V, Antoszkiewicz P. Integral sliding mode compensator for load pressure control of die-cushion cylinder drive[J]. Control engineering practice, 2013,21(5):708-718.

[5]Guan C, Pan S X. Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters[J]. Control Engineering Practice, 2008,16(11):1275-1284.

[6]邹璇, 刘鑫宇, 赵海鸣, 等. 基于扩展观测器的电液负载模拟器自适应鲁棒控制[J]. 上海理工大学学报, 2021,43(6):551-559.

Zou X,Liu X Y,Zhao H M,et al. Adaptive robust control of electro-hydraulic load simulator based on extended observer[J]. Journal of University of Shanghai for Science and Technology,2021,43(6):551-559.

[7]王立新, 赵丁选, 刘福才, 等. 基于死区补偿的电液位置伺服系统自抗扰控制[J]. 中国机械工程, 2021,32(12):1432-1442.

Wang L X, Zhao D X, Liu F C, et al. ADRC for electro-hydraulic position servo systems based on dead-zone compensation[J]. China Mechanical Engineering, 2021, 32(12): 1432-1442.

[8]Li M J, Shi W Z, Wei J H, et al. Parallel velocity control of an electro-hydraulic actuator with dual disturbance observers[J]. IEEE Access, 2019,7:56631-56641.

[9]李胜永. 锻造液压机双缸同步控制系统研究[J]. 液压与气动, 2020,(7):99-105.

Li S Y.Research on the synchronous control system of two cylinders for forging hydraulic press[J].Chinese Hydraulics & Pneumatics,2020,(7):99-105.

[10]Teng B G, Li K, Yuan S J. Optimization of loading path in hydroforming T-shape using fuzzy control algorithm[J]. International Journal of Advanced Manufacturing Technology, 2013,69(5-8):1079-1086.

[11]姚静, 任旭辉, 曹晓明, 等. 开式变量泵控快锻油压机系统能耗特性实验研究[J]. 中国机械工程, 2017,28(4):462-470.

Yao J, Ren X H, Cao X M, et al. Experimental study on energy consumption characteristics of fast hydraulic forging press with open variable pump-controlled system[J]. China Mechanical Engineering,2017,28(4):462-470.

[12]徐济宣, 马辉. 重型液压机执行器自适应滑模容错控制[J]. 锻压技术, 2020,45(4):140-147.

Xu J X, Ma H. Adaptive sliding mode fault-tolerant control of actuator for heavy-duty hydraulic press[J].Forging & Stamping Technology,2020,45(4):140-147.

[13]贾超, 何浩成, 董恩增. 基于扰动观测器的液压机滑模容错动态分配[J]. 华中科技大学学报:自然科学版, 2021,49(8):33-39.

Jia C,He H C,Dong E Z.Dynamic allocation of sliding mode fault tolerance of hydraulic press based on disturbance observer[J]. Journal of Huazhong University of Science and Technology:Natural Science Edition,2021,49(8):33-39.

[14]Zheng G, Boutat D, Barbot J P. On uniform controller design for linear switched systems[J]. Nonlinear Analysis Hybrid Systems, 2010,4(1):189-198.

服务与反馈：

【文章下载】【加入收藏】