摘要
为了提高并联旋压机压边装置在外部扰动未知条件下的位置控制性能及抗干扰能力,提出了一种基于扰动观测器的自适应滑模同步控制方法。首先,针对电液比例位置控制系统存在未知扰动及部分参数无法预知的问题,设计了一种非线性扰动观测器,用以对扰动和未知参数进行估计和补偿。在此基础上设计了一种基于交叉耦合策略的滑模同步控制器,用以降低单液压缸位置误差及双液压缸同步误差,保证系统鲁棒性。此外,引入了一种滑模自适应趋近律,用以缩短滑模趋近时间,降低系统抖振。最后利用Lyapunov函数证明了控制系统的稳定性。仿真结果表明,所设计的控制器能够实现精确的同步位置控制,在持续扰动作用下仍然具有良好的性能。
In order to improve the position control performance and anti-disturbance ability of the blanking device of the parallel spinning machine under unpredictable external disturbance,an adaptive sliding mode synchronous control method based on disturbance observer is proposed.Firstly,due to unpredictable disturbances in electro-hydraulic proportional system and inaccurate parameters that cannot be factored in modelling,a nonlinear disturbance observer is designed to estimate,which used to compensate the system disturbances and unknown parameters.With the observer established,a sliding mode synchronous controller based on the cross-coupling strategy is designed to reduce the single-cylinder position error and double-cylinder synchronization error and ensure the robustness of the whole system.In addition,a synovial adaptive approach law is introduced to shorten approach time to sliding mode and reduce system chatter.Finally,the stability of the control system is proved by Lyapunov function.Simulation results show that the controller designed in this paper can achieve accurate synchronous position control and still has good performance under continuous disturbance.
作者
汤澍
施光林
林杰克
杨培中
TANG Shu;SHI Guang-lin;LIN Jie-ke;YANG Pei-zhong(School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China)
出处
《组合机床与自动化加工技术》
北大核心
2021年第2期86-90,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金面上项目资助(11672184)。
关键词
随动压边装置
同步控制
自适应滑模
servo follower blanking device
synchronous control
adaptive sliding mode
