电液振动与加载混合试验系统控制策略研究

发布时间：2018-01-06 15:21

本文关键词：电液振动与加载混合试验系统控制策略研究　出处：《中国矿业大学》2016年博士论文　论文类型：学位论文

【摘要】：电液振动与加载混合试验主要用于实验室内对被试件所处的振动与加载耦合力学环境进行模拟,与传统单一试验方式相比,能够更加准确地反映和评估耦合工况下被试件的力学性能。混合试验的核心在于利用电液控制技术在被试件上同时施加期望的加速度及加载力,而目前国内外的研究主要集中在单一振动或加载试验技术方面,在该领域的研究尚不成熟。因此,本文在国家自然科学基金项目“基于振动与加载多元耦合的超冗余驱动电液系统协调控制研究”和江苏省自然科学基金项目“大型结构振动疲劳试验台的混合控制策略研究”的资助下,以搭建的水平单自由度电液振动与加载混合试验系统为研究对象,结合液压传动理论、系统辨识算法、线性控制方法和非线性控制等理论,深入开展混合试验系统控制策略的理论与实验研究,以期形成高精度的加速度及加载力控制策略,为混合试验的精确控制提供重要理论支持和技术手段。首先,介绍了本文研究的电液振动与加载混合试验系统结构形式,考虑液压系统非线性建立了其数学模型;基于加速度及加载力常规控制方法构建了混合试验系统仿真模型,分析了混合试验系统的动态特性;搭建了水平向单自由度电液振动与加载混合试验系统实验台,为后续控制策略的实验研究奠定了基础。其次,针对混合试验系统加速度控制问题,采用辨识算法及零幅值跟踪技术分别得到了三状态控制下的加速度闭环系统参数化模型及其稳定逆模型,构建了混合试验系统加速度前馈逆补偿控制策略;离线设计了模型偏差补偿控制器,提出了改进的前馈逆补偿控制策略,进一步利用自适应控制算法,形成了基于改进前馈逆控制和自适应控制相结合的加速度复合控制方案;开展了混合试验系统加速度控制策略的实验研究,验证了提出控制策略的有效性。再次,针对混合试验系统力加载控制问题,从线性控制理论出发,采用结构不变性原理提出了基于实时加载力和扰动液压缸控制电压的前馈补偿控制方案,克服了传统速度前馈补偿控制在应对加速度扰动时的不足;引入带干扰观测器的前馈逆补偿控制策略,将其与基于加载力和控制电压的前馈补偿方案相结合,形成一种混合试验系统新型复合控制策略;开展了混合试验系统力加载控制策略的实验研究,验证了提出线性复合控制策略的有效性。最后,针对混合试验系统力加载控制问题,从非线性控制理论出发,在考虑电液系统非线性特性的基础上,基于力加载非线性数学模型逐级递推得到了混合试验系统反步控制策略;考虑力加载非线性模型中的参数不确定性,将其引入到Lyapunov函数的构建中,递推得到了混合试验系统自适应反步控制策略,通过形成的自适应更新率对不确定性参数进行在线调节;开展了混合试验系统力加载控制策略的实验研究,验证了提出非线性控制器的有效性。
[Abstract]:Electro hydraulic vibration loading and hybrid testing is mainly used for the simulation of the specimen at the loading coupling vibration and mechanical environment of the laboratory, compared with the traditional single test mode, which can accurately reflect and evaluate the coupling conditions by the mechanical properties of the specimen. The core hybrid test is to use electro-hydraulic control technology in subjects the acceleration and the loading force is applied at the same time on expectations, and the current research at home and abroad mainly focus on the single vibration or load test technique, the research in this field is not mature. Therefore, based on the National Natural Science Fund Project "based on hyper redundant drive electrohydraulic loading system vibration and multi coupling coordination control research" and the Jiangsu Province Natural Science Fund Project "large test bench structure vibration fatigue research of hybrid control funding, to build the level of a single degree of freedom Electro-hydraulic Vibration With the loading hybrid test system as the research object, combined with hydraulic transmission theory, system identification algorithm, linear control method and nonlinear control theory, carry out theoretical and Experimental Research on control strategy of hybrid test system, in order to form the acceleration and the loading force of high precision control strategy provides an important theoretical support and technical means for controlling mixing test. First, this paper describes the Electro-hydraulic Vibration Loading Test System and hybrid structure, considering the nonlinear hydraulic system and its mathematical model is established; the acceleration and the loading force of conventional control method based on the constructed hybrid test system simulation model to analyze the dynamic characteristics of hybrid test system; build a horizontal electric single degree of freedom hydraulic vibration loading and hybrid test system experiment platform, which laid the foundation for the subsequent study of control strategy. Secondly, aiming at the hybrid test The system acceleration control problem, the identification algorithm and zero amplitude tracking technology obtained acceleration closed-loop system parametric model under the control of three state and stable inverse model, constructed a hybrid test system acceleration feedforward inverse compensation control strategy; off-line design model deviation compensation controller, the inverse compensation control strategy of improved feedforward, further use the adaptive control algorithm, forming a composite control scheme to improve acceleration feedforward inverse control and adaptive control based on combination; experiment were carried out to study the acceleration control strategy of hybrid test system, verify the effectiveness of the proposed control strategy. Thirdly, aiming at hybrid test system load control problem, starting from the linear control theory, using structure invariance principle put forward and disturbance feedforward compensation control scheme based on real-time voltage control of hydraulic cylinder loading force, To overcome the shortcomings of traditional speed feedforward compensation control in response to acceleration disturbance; disturbance observer with feed-forward inverse compensation control strategy, combined with the feedforward compensation scheme based on the load and the control voltage of the phase, forming a hybrid test system of new composite control strategy; experimental research was carried out on the hybrid test system load control strategy the verified the validity of the linear composite control strategy. Finally, the hybrid test system load control problem, starting from the nonlinear control theory, considering the nonlinear characteristics of the electric hydraulic system, the nonlinear mathematical model of loading step by step recursion of the hybrid test system based on backstepping control strategy considering the loading parameters; in the nonlinear model uncertainty is introduced to the construction of Lyapunov function, the recursive hybrid adaptive backstepping control system test The strategy is to adjust the uncertain parameters online by the adaptive update rate, and carry out the experimental research of the force loading control strategy of the hybrid test system, which validates the validity of the nonlinear controller.

【学位授予单位】：中国矿业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TH137;TP273

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