基于神经网络的电静液起竖系统换级碰撞补偿积分鲁棒控制

朱威霖; 葛曜文; 杨晓伟; 黎兰; 姚建勇

doi:10.12382/bgxb.2025.0364

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基于神经网络的电静液起竖系统换级碰撞补偿积分鲁棒控制

更新时间：2026-04-24

- 基于神经网络的电静液起竖系统换级碰撞补偿积分鲁棒控制
- Neural Network-based RISE Control for the Electro-hydrostatic Erection System with Inter-stage Collision Compensation
- 兵工学报 2026年47卷第3期页码：250364
- 作者机构：
  
  南京理工大学机械工程学院，江苏南京 210094
  北京航天发射技术研究所，北京 100076
- 作者简介：
  
  通信作者邮箱：yaojianyong1984@163.com
- 基金信息：
  
  国家自然科学基金项目(52405064);中央高校基本科研业务费专项基金项目(30925010303);国家重点研发计划项目(2024YFB4709600);国家自然科学基金区域联合基金项目(U24A20112)
- DOI：10.12382/bgxb.2025.0364
  中图分类号： TJ768.2
- 收稿：2025-05-13，
  
  网络首发：2025-12-25，
  
  纸质出版：2026-03
- 稿件说明：
移动端阅览
朱威霖, 葛曜文, 杨晓伟, 等. 基于神经网络的电静液起竖系统换级碰撞补偿积分鲁棒控制[J]. 兵工学报, 2026,47(3):250364.

ZHU Weilin, GE Yaowen, YANG Xiaowei, et al. Neural Network-based RISE Control for the Electro-hydrostatic Erection System with Inter-stage Collision Compensation[J]. Acta Armamentarii, 2026, 47(3): 250364.
朱威霖, 葛曜文, 杨晓伟, 等. 基于神经网络的电静液起竖系统换级碰撞补偿积分鲁棒控制[J]. 兵工学报, 2026,47(3):250364. DOI： 10.12382/bgxb.2025.0364.

ZHU Weilin, GE Yaowen, YANG Xiaowei, et al. Neural Network-based RISE Control for the Electro-hydrostatic Erection System with Inter-stage Collision Compensation[J]. Acta Armamentarii, 2026, 47(3): 250364. DOI： 10.12382/bgxb.2025.0364.

摘要

为提升特种车辆快速起竖驱动控制的精准性和平稳性，针对双级液压缸驱动的重载起竖系统的强非线性、模型不确定性和换级碰撞动态，提出一种基于神经网络的电静液起竖系统换级碰撞补偿积分鲁棒控制方法。以电静液直驱的五铰点起竖系统为研究对象，建立考虑起竖机构运动机理、换级碰撞动力学及泵控系统压力流量动态的状态空间方程；采用改进的L-N接触模型对非线性碰撞力进行前馈补偿，同时设计神经网络逼近未建模的碰撞及摩擦动态，从而构建完整的第二通道模型前馈补偿项，针对匹配及不匹配的不确定性设计双通道的积分鲁棒控制律加以克服；基于Lyapunov稳定性理论证明电静液五铰点起竖系统的半全局渐近跟踪性能。通过AMESim-Adams-Simulink联合仿真对比实验，验证所提方法的有效性。研究结果表明：恒功率中速起竖工况和快速起竖工况下NNRISE+CFC控制器的稳定精度分别为0.0073°和0.0095°，相较于其他控制策略，换级时的推力波动得到明显抑制，具有较高的控制精度和运动平稳性。

Abstract

To improve the accuracy and stability of the rapid erection control of special vehicles

a neural network-based robust integral of the sign of error（NNRISE）control method is thus proposed for the electro-hydrostatic erection system with inter-stage collision compensation. In this method

the strong nonlinearity

model uncertainty and inter-stage collision dynamics of heavy-duty erection system driven by the two-stage hydraulic cylinder are taken into account. Taking the five-hinge erection system directly driven by the electro-hydrostatic actuator as the research object

the state-space equations are established considering the erection mechanism kinematics

the inter-stage collision

and the pressure-flow dynamics of pump-controlled system. The feedforward compensation for nonlinear collision force is achieved using a modified L-N contact model. Meanwhile

a neural network is designed to approximate the unmodeled collision and friction dynamics. This integrated approach is used to establish a comprehensive feedforward compensation term for the second channel. Subsequently

the dual-channel RISE control laws are developed to address both matched and unmatched uncertainties. The semi-global asymptotic tracking performance of the electro-hydrostatic five-hinge erection system is proved based on Lyapunov theory

and the effectiveness of the proposed method is verified through the AMESim-Adams-Simulink co-simulation. The research results show that the stability accuracies of NNRISE with collision force compensation（NNRISE+CFC）are 0.0073° and 0.0095°

respectively

under the conditions of constant-power medium-speed erection and rapid erection. Compared with other control strategies

the thrust fluctuation during stage-changing is significantly suppressed

which achieves high control accuracy and motion stability.

关键词

Keywords

references

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