基于扰动观测器的电液系统压力控制

发布时间：2018-05-08 20:05

本文选题：扰动观测器 + 压力控制　；参考：《中南大学学报(自然科学版)》2017年05期

【摘要】：针对采用流量阀作为控制元件的电液系统,设计一种基于扰动观测器的非线性鲁棒压力控制器。在该系统中,压力控制性能受到负载流量的不利影响。研究中负载流量被分成时变的未知负载流量与可以建模的泄漏流量2个部分:前者是干扰压力控制的主要因素,为此在建立系统动力学模型的基础上设计非线性扰动观测器以估计未知负载流量;应对后者的方法则是首先建立其解析模型,然后在控制器中对其进行模型补偿。基于上述两点并考虑系统动力学的非线性特性,采用滑模控制技术综合系统压力的非线性鲁棒控制器。实验结果表明:所设计控制器在存在负载流量干扰的情况下实现精确且迅速的压力跟踪控制,表现出良好的性能鲁棒性。
[Abstract]:A nonlinear robust pressure controller based on disturbance observer is designed for electro-hydraulic system with flow valve as control element. In this system, the pressure control performance is adversely affected by the load flow. The load flow is divided into two parts: the unknown load flow with time varying and the leakage flow that can be modeled. The former is the main factor of interfering pressure control. In order to estimate the unknown load flow, a nonlinear disturbance observer is designed based on the dynamic model of the system, and the analytical model is established first, and then the model compensation is carried out in the controller. Based on the above two points and considering the nonlinear characteristics of the system dynamics, the sliding mode control technique is used to synthesize the nonlinear robust controller of the system pressure. The experimental results show that the controller achieves accurate and rapid pressure tracking control in the presence of load flow disturbance, and shows good performance robustness.
【作者单位】：浙江大学流体传动及机电系统国家重点实验室;
【基金】：国家自然科学基金资助项目(51075359)~~
【分类号】：TH137;TP273

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