吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (4): 1051-1056.doi: 10.13229/j.cnki.jdxbgxb201404023

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压机的调平和跟踪控制

吴爱国, 杨硕, 张涵, 李长滨   

  1. 天津大学 电气与自动化工程学院, 天津 300072
  • 收稿日期:2013-02-01 出版日期:2014-07-01 发布日期:2014-07-01
  • 作者简介:吴爱国(1954-), 男, 教授, 博士生导师.研究方向:非线性系统的控制算法及应用. E-mail:agwu@tju.edu.cn
  • 基金资助:
    国家科技重大专项项目(2009ZX04004-031)

Leveling and tracking control of multi-cylinder forging hydraulic press

WU Ai-guo, YANG Shuo, ZHANG Han, LI Chang-bin   

  1. School of Electrical Engineering and Automation, Tianjin University, Tianjin 300072, China
  • Received:2013-02-01 Online:2014-07-01 Published:2014-07-01

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摘要： 针对多缸锻造液压机系统, 在考虑不确定大负载和多缸耦合的情况下建立了非线性系统数学模型。采用广义逆的控制分配方法解决液压缸过驱动问题, 进而提出一种二级非线性控制器设计方案。该控制器内环级采用李雅普诺夫直接法控制4个单输入单输出的液压缸压力系统, 实现对期望压力的精确快速跟踪;外环级则针对带不确定大负载的多输入多输出系统, 采用自适应控制策略并结合控制分配理论获得各缸期望压力。仿真和实验结果表明, 该控制策略优于采用滑模变结构方法的单控制器策略, 实现了低速运行下的高精度调平和跟踪控制。

关键词: 自动控制技术, 液压缸过驱动, 控制分配, 锻造液压机模型, 自适应控制

Abstract: A nonlinear mathematic model for multi-cylinder forging hydraulic press system is established, in which the uncertainty of large load and the coupling of multi-cylinder is taken into consideration. The over actuation of the hydraulic cylinder is solved using control allocation method based on generalized inverse. Then a two-level nonlinear controller is proposed to solve the above problems. Employing Lyapunov Direct Method, the inner-loop controller controls the four SISO hydraulic cylinder pressure system to achieve accurate and fast tracking for the desired pressure. To control the uncertain large load MIMO system, the out-loop controller is designed using adaptive control strategy, with reference to the control allocation theory, to obtain the desired pressure of each cylinder. Simulation and experiment demonstrate that the strategy proposed is better than the sliding mode variable structure control strategy with single controller, and high-accuracy of the leveling and tracking control under slow running can be achieved.

Key words: automatic control technology, hydraulic cylinder overactuated, control allocation, hydraulic forging press model, adaptive control

中图分类号: 

  • TP273
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