仿真转台用连续回转电液伺服马达预测滑模控制

doi:10.13229/j.cnki.jdxbgxb20180507

摘要/Abstract

摘要：

针对飞行仿真转台用连续回转电液伺服马达自身存在高度非线性和摩擦、泄漏等外界因素导致的不确定性，不能建立精确的数学模型，以及传统控制策略效果不理想等特点，提出了一种预测函数滑模变结构复合控制策略（PFC-SMC）。电液伺服系统采用了具有状态反馈形式的内模控制理论结构，将内模控制思想和滑模变结构控制思想相结合，利用滑模控制克服外界干扰和参数时变性，利用预测函数控制算法设计内模控制器，实现系统高精度、高频响的跟踪控制，有效抑制了由滑模控制引起的抖振现象。仿真表明：与传统PID控制相比，PFC-SMC复合控制算法有效提高了飞行仿真转台用电液伺服系统的低速稳定性和抗干扰能力，极大程度拓展了系统的频响，实现了伺服系统的精确控制。

关键词: 流体传动与控制, 连续回转电液伺服马达, 内模控制, 滑模变结构控制, 预测函数控制

Abstract:

Due to the existing uncertainties caused by high non-linearity, friction, leakage and other external factors in the flight simulator with continuous rotary electro-hydraulic servo motor, it is difficult to accurately establish the mathematical model and also the traditional control strategies can not satisfy the high performance requirements. To overcome these problems, a compound control strategy composed of Predictive Function Control and Sliding Model Control (PFC-SMC) was proposed. In the electro-hydraulic servo system, the control principle of internal model control with state feedback is adopted, the internal model control principle and sliding model variable structure control is combined. The sliding model variable structure control can overcome external disturbing and parameters’ time-varying property. The internal model controller is designed using the predictive function theory, which can greatly suppress chattering of sliding mode structure, and achieve high precision and high frequency responding on tracking performance. The simulation results show that PFC-SMC algorithm improves the tracking performance and anti-interference ability of the electro-hydraulic position servo system greatly comparing with the traditional PID control, and effectively expands the bandwidth. The accurate control of electro-hydraulic position servo system of hydraulic simulation turntable can be realized.

Key words: fluid transmission and control, continuous rotary electro-hydraulic servo motor, internal model control, sliding mode variable structure control, predictive function control

中图分类号:

TH137

王晓晶,刘美珍,陈帅,李嵩. 仿真转台用连续回转电液伺服马达预测滑模控制[J]. 吉林大学学报(工学版), 2019, 49(5): 1547-1557.

Xiao-jing WANG,Mei-zhen LIU,Shuai CHEN,Song LI. Predictive function and sliding model controller of continuous rotary electro⁃hydraulic servo motor applied to simulator[J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1547-1557.

图/表 11

图1

图2

图3

图4

表1

滑模变结构控制参数表"

输入信号	$c$	$k 0$	$k 1$
0.001°/s的斜坡信号	1.0×10^-4	2.0×10^-6	686
14 Hz的正弦信号	2	0.2	0.002
15 Hz的正弦信号	2	0.2	0.002
16 Hz的正弦信号	2	0.2	0.002

表1

图5

图6

图7

图8

图9

表2

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