摘要
阀控对称液压缸位置伺服系统的参数之间存在较为复杂的动态特性,一旦出现内部参数变化和外部干扰,会使系统出现抖振现象,增加液压缸位置控制误差,为此,针对阀控对称液压缸位置伺服系统趋近率滑膜控制展开研究。首先,利用牛顿第二定律、微分方程建立阀控对称液压缸位置伺服系统的数学模型,以确定伺服系统各参数间的动态变化特性;然后,设计扰动观测器,对伺服系统的状态变量进行实时估计,识别系统的内部参数变化和外部干扰;最后,采用幂次趋近率设计滑模控制器,基于扰动观测与趋近率滑膜控制,实现对阀控对称液压缸位置的实时控制。通过实验证明:该方法对阀控对称液压缸位置进行控制后,液压缸位移曲线最接近期望位移曲线,误差未超出0.05 cm,压力波动为10.6~15.5 MPa,在预期压力波动范围内,控制效果较好。
There are complex dynamic characteristics among the parameters of the valve controlled symmetrical hydraulic cylinder position servo system.Once there are internal parameter changes and external disturbances,the system will experience chattering and increase the hydraulic cylinder position control error.Therefore,research is conducted on the approach rate sliding control of valve controlled symmetrical hydraulic cylinder position servo system.Firstly,a mathematical model of the valve controlled symmetrical hydraulic cylinder position servo system is established using Newton s second law and differential equations to determine the dynamic variation characteristics among the parameters of the servo system;Then,design a disturbance observer to estimate the state variables of the servo system in real time,identify internal parameter changes and external disturbances of the system;Finally,a power convergence rate sliding mode controller is designed to achieve real-time control of the position of the valve controlled symmetrical hydraulic cylinder based on disturbance observation and convergence rate sliding mode control.Experimental results have shown that after applying the method proposed in this article to control the position of the valve controlled symmetrical hydraulic cylinder,the displacement curve of the hydraulic cylinder is closest to the expected displacement curve,with an error not exceeding 0.05 cm.The pressure fluctuation ranges from 10.6 MPa to 15.5 MPa,and the control effect is good within the expected pressure fluctuation range.
作者
战祥森
ZHAN Xiang-sen(Guangzhou Modern Information Engineering College,Guangzhou 510663,China)
出处
《液压气动与密封》
2025年第11期27-33,共7页
Hydraulics Pneumatics & Seals
基金
广东省重点研发计划项目(2020YFD2006403)。
关键词
阀控对称液压缸
活塞
压力
阀芯位移
高阶趋近率
滑膜控制
valve controlled symmetrical hydraulic cylinder
piston
pressure
valve core displacement
high-order convergence rate
synovial control
