电液伺服非线性系统动态面控制研究

发布时间：2018-04-22 10:21

本文选题：电液伺服非线性系统 + 动态面控制　；参考：《兰州理工大学》2012年硕士论文

【摘要】：本文针对某厂拉压应力测试台出现的液压缸位移输出不精确以及销、液压缸和产品连接处出现的剩余压紧力问题，提出一种新的方案来解决这些问题，采用电液伺服系统代替原先的开环系统，以电液伺服系统为研究对象建立数学模型并建立状态空间模型，利用动态面控制技术设计一种鲁棒自适应动态面控制器，使得系统位移输出能够很好地跟踪预期参考信号，并使得系统跟踪误差能够收敛到很小的范围内。动态面控制方法是基于后推法发展而来的，它使虚拟控制通过一个一阶低通滤波器，从而克服了由于后推法设计的控制器产生的众多微分项，使得控制器也变得简单，而且跟踪误差相对较小。通过稳定性证明，可知整个系统在李雅普诺夫意义下半全局渐近稳定。通过MATLAB软件仿真，其结果符合预期目标。通过FLS模糊系统逼近电液伺服非线性系统中的不确定参数，与控制面技术相结合的方式，设计出相应的控制器，选取合适的参数，可以使电液伺服非线性系统在李雅普诺夫意义下半全局渐近稳定且跟踪误差收敛于一个零的领域内。经过仿真表明，其跟踪误差低于仅利用动态面技术的方式系统所产生的跟踪误差。而且，，通过输入阶跃信号并与传统PID控制进行对比，通过对比发现动态面控制超调量相比于传统的PID控制大大降低，且系统响应速度明显提高，动态特性要优于传统的PID控制。相比于传统的PID控制，动态面控制技术会有更好的发展空间，因为将来的工业场合会需要大量的高精度、高响应的控制器。当然，开发这种控制器也会投入一定的人力物力，随之带来的就是经济成本的提高。
[Abstract]:In this paper, a new scheme is proposed to solve the problems of the inexact displacement output of hydraulic cylinder and the residual compression force in the joint of pin, cylinder and product, which appear in the tension and compression stress test table of a certain factory, and a new method to solve these problems is put forward in this paper. The electro-hydraulic servo system is used to replace the open loop system. The mathematical model and the state space model of the electro-hydraulic servo system are established. A robust adaptive dynamic surface controller is designed by using the dynamic surface control technology. The system displacement output can track the expected reference signal well and the system tracking error can converge to a very small range. The dynamic surface control method is developed based on the backstepping method. It makes the virtual control pass through a first-order low-pass filter, thus overcomes the many differential terms produced by the controller designed by the backstepping method, and makes the controller become simple. And the tracking error is relatively small. It is proved that the whole system is semi-globally asymptotically stable in the sense of Lyapunov. Through the MATLAB software simulation, the results are in line with the expected objectives. Through the FLS fuzzy system approaching the uncertain parameters in the electro-hydraulic servo nonlinear system and combining with the control surface technology, the corresponding controller is designed and the appropriate parameters are selected. It is possible to make the electro-hydraulic servo nonlinear system semi-globally asymptotically stable in the sense of Lyapunov and the tracking error converges to a zero domain. The simulation results show that the tracking error is lower than that produced by the system using dynamic surface technique only. Furthermore, by input step signal and compared with the traditional PID control, it is found that the dynamic surface control overshoot is much lower than the traditional PID control, and the system response speed is obviously improved, and the dynamic characteristic is better than the traditional PID control. Compared with the traditional PID control, the dynamic surface control technology will have a better development space, because in the future industrial field will need a large number of high precision, high response controller. Of course, the development of this controller will also invest a certain amount of manpower and material resources, followed by the increase in economic costs.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137

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