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。
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.
作者
朱威霖
姚建勇
刘家辉
黎兰
张佳林
ZHU Weilin;YAO Jianyong;LIU Jiahui;LI Lan;ZHANG Jialin(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;Beijing Institute of Space Launch,Beijing 100076,China)
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2024年第6期1906-1920,共15页
Acta Armamentarii
基金
国家重点研发计划项目(2021YFB2011300)
国家自然科学基金项目(52075262)。
关键词
多连杆起竖系统
泵控系统
自抗扰控制
力同步控制
multi-link erection system
pump-controlled system
active disturbance rejection control
force synchronization control
