一类多缸液压机的分散滑模控制 .pdfVIP

学兔兔 第33卷 第7期 仪 器 仪 表 学 报 V01．33 No．7 2012年7月 Chinese Journal of Scientific Instrument Ju1．2012 一 类多缸液压机的分散滑模控制木 贾 超 ，吴爱国 ，郑爱红 (1天津大学电气与自动化T程学院 天津 300072；2天津理工大学自动化学院 天津 300384) 摘 要：通过对一类锻造液压机的分析，在考虑多缸耦合情况下为其建立了非线性系统数学模型。将该模型视为非线性关联 大系统，且将其转化为可控正则型，提出采用分散滑模控制理论对其进行滑模变结构控制。针对模型转换后控制方程中状态量 与控制量同时具有关联性的特点，提出通过模拟求解一个多元一次方程组的方法，得到了基于指数趋近律的分散滑模控制律， 有效解决了多缸耦合情况下控制律难于求解的问题。仿真结果表明，所设计的控制器使系统实现了高精度的位置跟踪，获得了 较强的抗扰性，控制效果良好，且所提方法思路清晰，为同类模型的控制方案提供了参考。 关键词：液压机；分散；滑模；非线性 中图分类号：TP273 文献标识码：A 国家标准学科分类代码：510．80 Decentralised sliding mode control for a class of multi-cylinder hydraulic press Jia Chao 一，Wu Aiguo ，Zheng Aihong ( School of Electrical EngineeringAutomation，Tianfin University，Tianjin 300072，China； 2 School ofAutomation，Tianjin University of Technology，Tianfin 300384，China) Abstract：Through analyzing a class of hydraulic press，a nonlinear system model considering the coupling of multi— cylinder was constructed．The model is regarded as a nonlinear interconnected system and converted into the controlla- ble canonical form；a design scheme based on decentralised sliding mode theory is adopted to realize the sliding mode contro1．Aiming at the problem that both state and control variables are correlative after model conversion，the scheme that simulatively solves a multi—variable linear equation is proposed．Thus the decentralised sliding control based on ex— ponent approaching law is derived and the problem that the control law under multi—cylinder coupling circumstance is difficult to be solved is solved effectively．The simulation result proves that the designed controller can realize the sys— tern position tracking with high pr