基于微分器的直驱电液伺服系统离散滑模控制

doi:10.13229/j.cnki.jdxbgxb20170584

摘要/Abstract

摘要： 直驱式容积控制电液伺服系统具有结构紧凑、效率高等优点,但该系统也存在着死区和非线性特征。为了解决该问题,本文建立了直驱式容积控制电液伺服系统的状态方程并对其进行了离散化。采用三阶积分链式微分器,通过对活塞杆位移的信号进行微分,实时得到活塞杆的速度和加速度信号,构成系统的全状态反馈。采用基于趋近率的离散滑模控制算法设计控制器并进行仿真和实验研究,结果表明,该控制器的位置跟踪特性明显优于PID控制器,能够提高直驱式容积控制电液伺服系统的控制性能。

关键词: 流体传动与控制, 直驱式容积控制, 离散滑模控制, 微分器

Abstract: Direct Drive Volume Control (DDVC) servo system is a novel hydraulic servo system. With the continuous development of motor servo technology, it has been widely used in industrial and aerospace applications. The system has advantages of compact structure and high efficiency, but also has defects in dead zone and non-linear characteristics. In order to solve these problems, the state equation of the system was established and discretized. By using the third-order integral chain differentiator, the real-time values of the rod velocity and acceleration were obtained from the measurement signal of displacement, which constitute the full state feed-back control system. A nonlinear controller was designed with the Discrete Variable Structure Control (DVSC) algorithm based on the approach law. The simulation and experimental results show that the DVSC controller has better position tracing characteristics than traditional PID controller, which improves the controlling performance of DDVC servo system.

Key words: hydraulic transmission and control, direct drive volume control, discrete variable structure control, differentiator

中图分类号:

TP273.4

姜继海, 葛泽华, 杨晨, 梁海健. 基于微分器的直驱电液伺服系统离散滑模控制[J]. 吉林大学学报(工学版), 2018, 48(5): 1492-1499.

JIANG Ji-hai, GE Ze-hua, YANG Chen, LIANG Hai-jian. Differentiator-based discrete variable structure controller for direct drive electro-hydraulic servo system[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1492-1499.

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