Extended-state-observer based sliding mode control for pump-controlled electro-hydraulic servo system
-
摘要:
以泵控电液伺服系统为研究对象，提出了一种基于扩张状态观测器的滑模位置跟踪控制策略。首先，利用奇异扰动理论对泵控电液伺服系统的数学模型进行降阶处理，得到降阶泵控电液位置伺服系统数学模型。其次，针对泵控电液伺服系统工况的复杂性及外负载干扰问题，设计了扩张状态观测器对系统干扰在线观测，同时该观测器还可以对活塞杆的位置和速度信号进行估计。然后，利用观测到的干扰信号及速度信号，基于滑模控制理论设计了滑模变结构控制算法，对所提出的控制策略的稳定性进行了理论分析。最后，利用MATLAB/Simulink和AMESim仿真平台，搭建了泵控电液伺服系统的联合仿真模型，对算法的可行性及有效性进行了仿真验证。仿真结果表明，所设计的扩张状态观测器能对干扰进行精确估计，基于扩张状态观测器的滑模控制策略的位置跟踪性能显著优于PID控制器和传统滑模控制器，且对外部干扰力具有较强的鲁棒性，提高了泵控电液伺服系统的控制性能。
Abstract:A sliding mode position tracking control strategy based on extended state observer is proposed for pump-controlled electro-hydraulic servo system. The mathematical model of the system is processed by reducing order using singular perturbation theory, and the mathematical model of reduced-order pump-controlled electro-hydraulic position servo system is obtained. Aimed at the complexity of pump-controlled electro-hydraulic servo system and the disturbance of random external load, an extended state observer is designed to estimate the disturbance on-line. Besides providing the estimations of disturbances, the observer can also estimate the position and velocity of piston rod. Based on the sliding mode control theory, a sliding mode variable structure control algorithm is designed using the estimations of disturbance and speed. The stability of the proposed control strategy is analyzed. Co-simulation model of pump-controlled electro-hydraulic servo system was conducted using MATLAB/Simulink and AMESim. The feasibility and effectiveness of the algorithm are verified by co-simulation. The simulation results show that the extended state observer can accurately estimate the disturbance. The position tracking performance of the proposed extended-state-observer based sliding mode control strategy is significantly better than that of PID controller and traditional sliding mode controller, and it has strong robustness to external disturbance, which improves the control performance of the pump-controlled electro-hydraulic servo system.
-
图 1 泵控电液伺服系统原理
Figure 1. Principle diagram of pump-controlled electro-hydraulic servo system
图 2 MATLAB/Simulink和AMESim联合仿真模型
Figure 2. MATLAB/Simulink and AMESim co-simulation model
图 3 无干扰情况下跟踪0.1Hz、50mm正弦位置指令
Figure 3. Tracking 0.1Hz, 50mm sinusoidal position command without disturbance
图 4 3000N阶跃干扰力下跟踪0.1Hz、50mm正弦位置指令
Figure 4. Tracking 0.1Hz, 50mm sinusoidal position command under 3000N step disturbing force
图 5 参数大范围变化、强扰动作用条件下跟踪0.1Hz、50mm正弦位置指令
Figure 5. Tracking 0.1Hz, 50mm sinusoidal position command under the condition of large range variation of parameter and strong disturbance action
图 6 2Hz、1000N余弦干扰力下跟踪0.5Hz、10mm正弦位置指令
Figure 6. Tracking 0.5Hz, 10mm sinusoidal position command under 2Hz, 1000N cosine disturbing force
表 1 泵控电液伺服系统仿真参数
Table 1. Simulation parameters of pump-controlled electro-hydraulic servo system
参数 数值 双向定量泵排量/(mL·r -1) 13.3 液压缸活塞直径/mm 40 活塞杆直径/mm 28 负载质量/kg 55 伺服电机与双向定量泵
连接刚度/(N·m·(°) -1)10000 液控单向阀开启压力/MPa 0.3 库伦摩擦力/N 30 液压缸黏性阻尼系数/
(N·(m·s -1) -1)100 活塞行程/m 0.2 油液弹性模量/MPa 700 伺服电机转动惯量/(kg·cm 2) 50 溢流阀设定压力/MPa 15 液压缸泄漏系数/(L·min -1·MPa -1) 0.3 液压缸静摩擦力/N 50 
下载: 导出CSV
表 2 无干扰情况下跟踪0.1Hz、50mm正弦位置指令综合性能指标对比
Table 2. Comparison of comprehensive performance indexes of tracking 0.1Hz, 50mm sinusoidal position command without disturbance
控制方法 IAPE/m IMSE/m 2 IMSC/(rad·s -1) 2 PID控制 1.30×10 -3 1.16×10 -6 4.52×10 3 传统滑模控制 1.00×10 -3 5.19×10 -7 4.25×10 3 观测器+滑模控制 1.84×10 -5 1.64×10 -10 4.26×10 3
下载: 导出CSV
表 3 3000N阶跃干扰力下跟踪0.1Hz、50mm正弦位置指令综合性能指标对比
Table 3. Comparison of comprehensive performance indexes of tracking 0.1Hz, 50mm sinusoidal position command under 3000N step disturbing force
控制方法 IAPE/m IMSE/m 2 IMSC/(rad·s -1) 2 PID控制 6.50×10 -3 1.76×10 -6 1.02×10 4 传统滑模控制 3.00×10 -3 1.36×10 -6 9.80×10 3 观测器+滑模控制 1.90×10 -3 1.72×10 -9 9.88×10 3
下载: 导出CSV
表 4 参数大范围变化、强扰动作用条件下跟踪0.1Hz、50mm正弦位置指令综合性能指标对比
Table 4. Comparison of comprehensive performance indexes of tracking 0.1Hz, 50mm sinusoidal position command under the condition of large range variation of parameter and strong disturbance action
控制方法 IAPE/m IMSE/m 2 IMSC/(rad·s -1) 2 PID控制 4.19×10 -2 2.88×10 -5 2.31×10 5 传统滑模控制 9.30×10 -3 2.50×10 -5 1.65×10 5 观测器+滑模控制 4.80×10 -3 4.32×10 -8 1.66×10 5
下载: 导出CSV
表 5 2Hz、1000N余弦干扰力下跟踪0.5Hz、10mm正弦位置指令综合性能指标对比
Table 5. Comparison of comprehensive performance indexes of tracking 0.5Hz, 10mm sinusoidal position command under 2Hz, 1000N cosine disturbing force
控制方法 IAPE/m IMSE/m 2 IMSC/(rad·s -1) 2 PID控制 1.18×10 -2 6.14×10 -5 1.58×10 4 滑模控制 1.40×10 -3 5.96×10 -7 4.74×10 3 观测器+滑模控制 7.55×10 -5 3.83×10 -9 5.12×10 3
下载: 导出CSV
-
[1] 付永领, 韩旭, 杨荣荣, 等.电动静液作动器设计方法综述[J].北京航空航天大学学报, 2017, 43(10):1939-1952. doi: 10.13700/j.bh.1001-5965.2017.0195FU Y L, HAN X, YANG R R, et al.Review on design method of electro-hydrostatic actuator[J].Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(10):1939-1952(in Chinese). doi: 10.13700/j.bh.1001-5965.2017.0195 [2] 汪成文, 尚耀星, 焦宗夏, 等.阀控电液位置伺服系统非线性鲁棒控制方法[J].北京航空航天大学学报, 2014, 40(12):1736-1740. doi: 10.13700/j.bh.1001-5965.2013.0752WANG C W, SHANG Y X, JIAO Z X, et al.Nonlinear robust control of valve controlled electro-hydraulic position servo system[J].Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12):1736-1740(in Chinese). doi: 10.13700/j.bh.1001-5965.2013.0752 [3] HABIBI S, GOLDENBERG A.Design of a new high-performance electrohydraulic actuator[J].IEEE/ASME Transactions on Mechatronics, 2000, 5(2):158-164. doi: 10.1109/3516.847089 [4] 权龙.泵控缸电液技术研究现状、存在问题及创新解决方案[J].机械工程学报, 2008, 44(11):87-92. http://d.old.wanfangdata.com.cn/Periodical/jxgcxb200811015QUAN L. Current state, problems and the innovative solution of electro-hydraulic technology of pump controlled cylinder[J].Chinese Journal of Mechanical Engineering, 2008, 44(11):87-92(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/jxgcxb200811015 [5] SHEN W, PANG Y, JIANG J H.Robust controller design of the integrated direct drive volume control architecture for steering systems[J].ISA Transactions, 2018, 78:116-129. doi: 10.1016/j.isatra.2017.05.008 [6] 杨晨.电站调节阀门直驱式电液执行器的仿真和实验研究[D].哈尔滨: 哈尔滨工业大学, 2016: 1-12. http://cdmd.cnki.com.cn/Article/CDMD-10213-1016914440.htmYANG C.Simulation and experiment research of the direct-drive electro-hydraulic actuator of regulating valves[D].Harbin: Harbin Institute of Technology, 2016: 1-12(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-10213-1016914440.htm [7] AHN K K, NAM D N C, JIN M.Adaptive backstepping control of an electrohydraulic actuator[J].IEEE/ASME Transactions on Mechatronics, 2014, 19(3):987-995. doi: 10.1109/TMECH.2013.2265312 [8] TRI N M, NAM D N C, PARK H G, et al.Trajectory control of an electro hydraulic actuator using an iterative backstepping control scheme[J].Mechatronics, 2015, 29:96-102. doi: 10.1016/j.mechatronics.2014.10.002 [9] ZHANG H, LIU X, WANG J, et al.Robust H∞ sliding mode control with pole placement for a fluid power electrohydraulic actuator (EHA) system[J].The International Journal of Advanced Manufacturing Technology, 2014, 73(5-8):1095-1104. doi: 10.1007/s00170-014-5910-8 [10] KOKOTOVIC V, KHALIL H, REILLY J O.Singular perturbation methods in control:Analysis and design[M].New York:Academic Press, 1986. [11] KHALIL H.Nonlinear systems[M].Upper Saddle River:Prentice-Hall, 1996. [12] KIM E S.Nonlinear indirect adaptive control of a quarter car active suspension[C]//Proceeding of the 1996 IEEE International Conference on Control Applications.Piscataway: IEEE Press, 1996: 61-66. [13] WANG L K, BOOK W J, HUGGINS J D.A control approach with application to variable displacement pumps[C]//2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Piscataway: IEEE Press, 2009: 1862-1867. https://www.researchgate.net/publication/224586258_A_control_approach_with_application_to_variable_displacement_pumps [14] WANG L K, BOOK W J, HUGGINS J D.Application of singular perturbation theory to hydraulic pump controlled systems[J]. IEEE/ASME Transactions on Mechatronics, 2012, 17(2):251-259. doi: 10.1109/TMECH.2010.2096230 [15] HASSAN K K.非线性系统[M].朱义胜, 董辉, 李作洲, 等译.北京:电子工业出版社, 2017:312-317.HASSAN K K.Nonlinear systems[M].ZHU Y S, DONG H, LI Z Z, et al., translated.Beijing:Electronic Industry Press, 2017:312-317(in Chinese). [16] JEROUANE M, LAMNABHI-LAGARRIGUE F.A new robust sliding mode controller for a hydraulic actuator[C]//Proceedings of the 40th IEEE Conference on Decision and Control.Piscataway: IEEE Press, 2001, 1: 908-913. https://www.researchgate.net/publication/224762808_A_new_robust_sliding_mode_controller_for_a_hydraulic_actuator?_sg=0O_S_t8a9BdfAxE20R_It_PWEZR2TIMyPQlcUHsv1_BZ0PPt4IzgVc-HZw_DgspzQiV5TSmvemB7HYyyocQnEA [17] GUO H, LIU Y G, LIU G R, et al.Cascade control of a hydraulically driven 6-DOF parallel robot manipulator based on a sliding mode[J].Control Engineering Practice, 2008, 16(9):1055-1068. doi: 10.1016/j.conengprac.2007.11.005 [18] WANG S, HABIBI S, BURTON R.Sliding mode control for an electrohydraulic actuator system with discontinuous non-linear friction[J].Proceedings of the Institution of Mechanical Engineers, Part I:Joumal of Systems and Control Engineering, 2008, 222(8):799-815. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=293130d629e7f27a638d271a262903b6 [19] BESSA W M, DUTRA M S, KREUZER E.Sliding mode control with adaptive fuzzy dead-zone compensation of an electro-hydraulic servo system[J].Journal of Intelligent & Robotic Systems, 2010, 58(1):3-16. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=ef3bbb88d4304efcb94c2e2aa123b5e8 -
下载:
点击查看大图
计量
- 文章访问数: 669
- HTML全文浏览量: 186
- PDF下载量: 115
- 被引次数: 0
