泵控多连杆式起竖系统自抗扰力同步控制
Active Disturbance Rejection Force Synchronization Control for Pump-controlled Multi-link Erection System
朱威霖 1姚建勇 1刘家辉 1黎兰 2张佳林2
作者信息
- 1. 南京理工大学 机械工程学院,江苏 南京 210094
- 2. 北京航天发射技术研究所,北京 100076
- 折叠
摘要
针对泵控多连杆式起竖系统存在的非线性、模型不确定性和双缸不同步引起的力纷争问题,提出一种双缸起竖系统自抗扰力同步控制设计方法.考虑多连杆起竖机构运动学特性和闭式泵控液压系统的压力流量动态,建立多连杆式起竖系统动力学模型,通过扩张状态观测器估计系统干扰和模型不确定性,以在控制器设计过程中进行补偿,同时融合复合力同步控制方法,增强系统克服负载偏载、外干扰等引起的力纷争.基于Lyapunov理论分析证明了多连杆式双缸起竖系统的渐近跟踪和力同步性能.通过中速和快速恒功率起竖对比试验,验证所提自抗扰力同步控制策略的有效性,获得了良好的起竖跟踪和力同步控制性能.
Abstract
The pump-controlled multi-link erection system has the issues of nonlinearity,model uncertainty and force fighting arising from asynchronous motion.,An active disturbance rejection force synchronization control strategy is proposed for such a dual-cylinder erection system.Considering the kinematic characteristics of the multi-link erection mechanism and the pressure-flow dynamics of the closed pump-controlled hydraulic system,a dynamical model of multi-link erection system is established.The system disturbances and model uncertainties are estimated by the extended state observer to compensate for them in the controller design process,while a composite force synchronization control method is integrated to enhance the system to overcome the force fighting caused by unbalance load and external disturbances.Based on Lyapunov theory,the multi-link dual-cylinder erection system can achieve asymptotic tracking and force synchronization performance.Finally,the effectiveness of the proposed active disturbance rejection force synchronization control strategy is verified by the comparative experiments of medium-speed and rapid-speed constant-power erections,and the excellent erection tracking and force synchronization control performance is obtained.
关键词
多连杆起竖系统/泵控系统/自抗扰控制/力同步控制Key words
multi-link erection system/pump-controlled system/active disturbance rejection control/force synchronization control引用本文复制引用
基金项目
国家重点研发计划(2021YFB2011300)
国家自然科学基金(52075262)
出版年
2024
NETL
NSTL
万方数据