北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (8): 1612-1618.doi: 10.13700/j.bh.1001-5965.2020.0252

• 论文 • 上一篇    下一篇

电动静液作动器的新型变阻尼级联滑模控制

王明康1, 付永领1, 赵江澳1, 杨荣荣2   

  1. 1. 北京航空航天大学 机械工程及自动化学院, 北京 100083;
    2. 兰州理工大学 机电工程学院, 兰州 730050
  • 收稿日期:2020-06-11 发布日期:2021-09-06
  • 通讯作者: 付永领 E-mail:wmk_buaa@163.com

Novel damping-variable sliding mode cascade control for electro-hydrostatic actuator

WANG Mingkang1, FU Yongling1, ZHAO Jiang'ao1, YANG Rongrong2   

  1. 1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China;
    2. School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China
  • Received:2020-06-11 Published:2021-09-06

摘要: 为改善电动静液作动器(EHA)的动态性能,提出了一种基于新型准自适应变阻尼滑模控制(DV-SMC)和PID控制的级联控制(CC)算法。所提算法将高阶EHA分为液压和机械2个低阶系统,分别对2个低阶系统采用了DV-SMC和双环PID控制策略。DV-SMC方法能够自适应调整滑模面阻尼。在起始阶段采用欠阻尼、末段自适应调节为过阻尼,从而在保证EHA快速性的同时也能够完全抑制超调现象。通过仿真验证了所提算法的有效性,并讨论给出了DV-SMC滑模面最优参数。

关键词: 滑模控制(SMC), 准自适应, 变阻尼, 电动静液作动器(EHA), 级联控制(CC)

Abstract: Aimed at improving the performance of an Electro-Hydrostatic Actuator (EHA), a novel Cascade Control (CC) algorithm based on Damping-Variable Sliding Mode Control (DV-SMC) and PID is proposed in this paper. A high-order model of EHA was divided into two low-order subsystems, i.e. mechanical subsystem and hydraulic subsystem. Furthermore, double-loop PID and DV-SMC were applied for the two subsystems, respectively. The proposed method can adjust the damping ratio of the subsystem adaptively. At the beginning of sliding, small damping ratio was used, while an overdamped subsystem was obtained in the end by adaptive adjustment. Therefore, the EHA rapidness and the suppression of overshoot can be guaranteed simultaneously. Finally, simulative validation was carried out to verify the effectiveness of the proposed method, and the optimal parameters of the sliding mode surface are discussed and given.

Key words: Sliding Mode Control (SMC), quasi-adaptive, damping variable, Electro-Hydrostatic Actuator (EHA), Cascade Control (CC)

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