泵控多连杆式起竖系统自抗扰力同步控制

doi:10.12382/bgxb.2023.0318

摘要/Abstract

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。

关键词: 多连杆起竖系统, 泵控系统, 自抗扰控制, 力同步控制

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.

Key words: multi-link erection system, pump-controlled system, active disturbance rejection control, force synchronization control

中图分类号:

TJ768.2

朱威霖, 姚建勇, 刘家辉, 黎兰, 张佳林. 泵控多连杆式起竖系统自抗扰力同步控制[J]. 兵工学报, 2024, 45(6): 1906-1920.

ZHU Weilin, YAO Jianyong, LIU Jiahui, LI Lan, ZHANG Jialin. Active Disturbance Rejection Force Synchronization Control for Pump-controlled Multi-link Erection System[J]. Acta Armamentarii, 2024, 45(6): 1906-1920.

图/表 26

图1 两种起竖方案

Fig.1 Two erection schemes

图2 多连杆起竖机构运动简图

Fig.2 Motion sketch of multi-link erection mechanism

图3 起竖载荷曲线

Fig.3 Erection force curves

图4 闭式泵控液压系统原理图

Fig.4 Schematic diagram of closed pump-controlled hydraulic system

图5 泵控多连杆式起竖系统自抗扰力同步控制策略结构图

Fig.5 Schematic diagram of ADR-FSC strategy for the pump-controlled multi-link erection system

图6 多连杆式起竖试验平台

Fig.6 Experimental platform of multi-link erection system

图7 电静液作动器

Fig.7 Electro-hydrostatic actuator

表1 多连杆起竖试验参数

Table 1 Parameters of multi-link erection experiment

参数	数值	参数	数值
J/(kg·m²)	2.6×10⁵	V_0Z/m³	1.075×10^-4
k_ω/(r·min^-1·V^-1)	300	V_0F/m³	0.0283
D_p/(m³·rev^-1)	1.8×10^-4	C_t/(m³·s^-1·Pa^-1)	4.82×10^-13
A_1Z/m²	0.0269	C_p/(m³·s^-1·Pa^-1)	2.56×10^-11
A_1F/m²	0.0068	B_f/(N·m·s·rad^-1)	80000
A_2Z/m²	0.0143	A_f/(N·m)	3500
A_2F/m²	0.0048	β_e/Pa	7×10⁸

图8 起竖轨迹规划曲线

Fig.8 Desired erection trajectory

图9 工况1ADR-FSC控制器的跟踪性能

Fig.9 Tracking performance under ADR-FSC in Case 1

图10 工况1起竖角度跟踪误差对比

Fig.10 Comparison of tracking errors for the erection angle in Case 1

表2 工况1起竖角度跟踪性能指标

Table 2 Performance indexes of erection angle tracking in Case 1

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.3144	0.1140	0.0874
ADR	0.4328	0.1300	0.1073
PID-CC	1.1519	0.4255	0.2429

图11 工况1起竖角度同步误差对比

Fig.11 Comparison of synchronization errors for the erection angle in Case 1

图12 工况1起竖力同步误差对比

Fig.12 Comparison of synchronization errors for the erection force in Case 1

表3 工况1起竖角度同步性能指标

Table 3 Synchronization indexes of erection angle in Case 1

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.0500	0.0107	0.0065
ADR	0.1369	0.0344	0.0211
PID-CC	0.1872	0.0559	0.0288

表4 工况1起竖力同步性能指标

Table 4 Synchronization indexes of erection force in Case 1

控制器	M_e/N	μ/N	σ/N
ADR-FSC	2944	842	513
ADR	7623	2895	1730
PID-CC	9495	3050	1820

图13 工况1ADR-FSC控制器压力曲线

Fig.13 Pressure curves under ADR-FSC in Case 1

图14 工况1ADR-FSC的控制输入

Fig.14 Control inputs of ADR-FSC in Case 1

图15 工况2ADR-FSC控制器的跟踪性能

Fig.15 Tracking performance under ADR-FSC in Case 2

图16 工况2起竖角度跟踪误差对比

Fig.16 Comparison of tracking errors for the erection angle in Case 2

表5 工况2起竖角度跟踪性能指标

Tab.5 Performance indexes of erection angle tracking in Case 2

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.4573	0.1532	0.1166
ADR	0.5607	0.1696	0.1454
PID-CC	1.6514	0.4334	0.4365

图17 工况2起竖角度同步误差对比

Fig.17 Comparison of synchronization errors for the erection angle in Case 2

图18 工况2起竖力同步误差对比

Fig.18 Comparison of synchronization errors for the erection force in Case 2

表6 工况2起竖角度同步性能指标

Table 6 Synchronization indexes of erection angle in Case 2

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.0687	0.0155	0.0158
ADR	0.1261	0.0415	0.0221
PID-CC	0.1385	0.0691	0.0292

表7 工况2起竖力同步性能指标

Table 7 Synchronization indexes of erection force in Case 2

控制器	M_e/N	μ/N	σ/N
ADR-FSC	4210	871	560
ADR	6746	3712	1794
PID-CC	9262	3869	1954

图19 工况2ADR-FSC控制器压力曲线

Fig.19 Pressure curves under ADR-FSC in Case 2

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