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| 被动式电液加载系统的变刚度自适应控制 |
| Variable stiffness adaptive control for passive electro-hydraulic loading system |
| 投稿时间：2018-12-28 |
| DOI： |
| 中文关键词: 电液加载系统 被动式加载 模型参考自适应控制 增广误差模型 Lyapunov能量函数 自适应律 负载刚度 |
| 英文关键词: electro-hydraulic loading system passive loading model reference adaptive control augmented error model Lyapunov energy function adaptive law load stiffness |
| 基金项目:国家自然科学基金资助项目(51675387). |
| 作者 | 单位 | E-mail | | 张旭 | 武汉科技大学冶金装备及其控制教育部重点实验室,湖北 武汉,430081 | 273870200@qq.com | | 金晓宏 | 武汉科技大学冶金装备及其控制教育部重点实验室,湖北 武汉,430081
武汉科技大学机械传动与制造工程湖北省重点实验室,湖北 武汉,430081 | | | 陶登阳 | 武汉科技大学机械传动与制造工程湖北省重点实验室,湖北 武汉,430081 | | | 陈帅杰 | 武汉科技大学机械传动与制造工程湖北省重点实验室,湖北 武汉,430081 | |
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| 中文摘要: |
| 建立了被动式电液加载系统的数学模型,分析由位置扰动和系统自身结构引起的稳态误差,讨论了负载刚度和液压刚度在系统主要行程范围内变化对系统动态特性的影响。采用高阶系统跟随低阶参考模型的自适应控制方法,在选择二阶参考模型的固有频率时综合考虑了两方面的因素,既发挥了液压动力机构响应频率高的优势又确定了合理的频宽。运用Narendra稳定自适应控制理论设计自适应控制器,建立增广误差模型,选取Lyapunov能量函数并导出能使系统全局渐进稳定的自适应律。利用Simulink软件进行数值仿真,仿真结果表明,加入自适应控制器后,系统能稳定地跟随参考模型,两者误差快速收敛为零,并且系统在5组不同参数设置下的动态响应性能几乎一致,上升时间和调整时间分别为4.8 ms和14.6 ms,稳态误差仅为0.03%；同时,由速度为0.5 m/s的位置扰动引起的系统误差最大仅为0.58 kN并于35 ms后消除。故本文设计的自适应控制器使被动式电液加载系统在变参数和位置扰动条件下的动态特性和精度得到大幅提升。 |
| 英文摘要: |
| This paper developed the mathematical model of passive electro-hydraulic loading system, analyzed the steady-state error caused by position disturbance and system structure, and discussed the influence of load stiffness and hydraulic stiffness changing within the stroke range of the actuator on the system dynamic characteristics. The adaptive control method of higher-order system following lower-order reference model was adopted. Natural frequency of the second-order reference model was selected by considering synthetically two factors, i.e., the high response frequency of the hydraulic actuator and the reasonable bandwidth. An adaptive controller was designed by using Narendra’s stable adaptive control theory. The augmented error model was established. On the basis of Lyapunov energy function, adaptive law was derived which could make the system globally asymptotically stable. The results of numerical simulations by Simulink software show that the system with adaptive controller can stably follow the reference model, and the error converges to zero quickly. In five different parameter settings, the system has almost the same dynamic response performances with the rise time and adjustment time being 4.8 ms and 14.6 ms, respectively, and the steady-state error being only 0.03%. The maximal system error caused by position disturbance with a velocity of 0.5 m/s is only 0.58 kN and is eliminated in 35 ms. So the dynamic characteristics and accuracy of passive electro-hydraulic loading system with variable parameters and position disturbance have been greatly improved by the designed adaptive controller. |
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