摘要
针对大型液压起竖系统中的非对称液压缸建模问题,对系统负载流量和负载压力进行了重新定义,推导建立了起竖系统的非线性模型。为克服系统非线性和不确定性对起竖过程控制的影响,引入滑模控制和动态面控制,提出采用一种基于动态面滑模的控制策略,并给出了控制律。仿真结果表明,与PID控制、一般滑模控制相比,该控制方法有较强的抗干扰能力和良好的跟踪性能,提高了起竖过程的鲁棒性和稳定性。
A nonlinear model for the large hydraulic erecting system is established by redefining the load flux and load pressure of the valve controlled asymmetrical cylinder. A dynamic surface sliding mode control method is proposed to overcome the nonlinearities and uncertainties existing in the erecting process of large erecting system, and the sliding mode control and dynamic surface control are introduced in desig- ning this controller. The control law is presented. Simulation results show that, compared to PID control and conventional sliding mode control, the dynamic surface sliding mode controller has nicer robustness and tracking performance, and the control stability and robustness of erecting system are improved.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2014年第2期235-240,共6页
Acta Armamentarii
基金
国防预先研究基金项目(9140A27040112JB47081)
关键词
控制科学与技术
滑模控制
动态面控制
起竖系统
非线性
非对称液压缸
不确定性
鲁棒性
control science and technology
sliding mode control
dynamic surface control
erecting system
nonlinearity
asymmetrical cylinder
uncertainty
robustness
