|
|
双液压缸同步运动的复合滑模控制
|
Abstract:
液压系统存在强非线性、参数不确定性及外部干扰等问题，传统控制方法难以实现高精度同步控制。为此，本文提出一种基于超螺旋滑模观测器(Super Twisting Sliding Mode Observer, SMO)的液压缸同步复合滑模控制方法。设计超螺旋滑模观测器对系统状态及集总扰动进行实时估计，有效抑制高频抖振并提高观测精度；结合模糊逻辑理论，设计外环模糊滑模控制器，根据系统误差动态调整滑模切换增益，增强系统的鲁棒性和自适应能力；同时，引入内环积分滑模控制项以减小稳态误差，提升同步跟踪精度。理论分析证明了闭环系统的稳定性，并通过仿真验证了所提方法的有效性。
Due to strong nonlinearities, parameter uncertainties, and external disturbances, achieving high-precision synchronization in hydraulic systems remains challenging for conventional controllers. This paper proposes a composite sliding mode control (SMC) method for hydraulic cylinder synchronization based on a super-twisting SMO. The super-twisting SMO is employed for the real-time estimation of system states and lumped disturbances, effectively suppressing high-frequency chattering and improving observation precision. By integrating fuzzy logic, a fuzzy SMC is designed to dynamically adjust the switching gain based on system errors, which enhances system robustness and adaptability. Additionally, an integral SMC term is introduced to minimize steady-state errors and elevate tracking accuracy. Theoretical analysis guarantees the closed-loop stability, and simulation results verify the effectiveness of the proposed strategy.
| [1] | 曹原, 贾凯, 徐方, 等. 改进的交叉耦合控制策略在同步控制中的应用[J]. 组合机床与自动化加工技术, 2022(6): 72-77. |
| [2] | 张旭飞, 刘欣超, 李凯, 等. 轨道板张拉力模糊PID同步控制联合仿真分析[J]. 液压与气动, 2021, 45(10): 37-43. |
| [3] | 钱坤, 董新民, 谢寿生, 等. 滑模控制方法在气动伺服控制系统中的应用[J]. 液压与气动, 2004(6): 9-12. |
| [4] | Boiko, I. and Fridman, L. (2005) Analysis of Chattering in Continuous Sliding-Mode Controllers. IEEE Transactions on Automatic Control, 50, 1442-1446. https://doi.org/10.1109/tac.2005.854655 |
| [5] | 许诚, 陈正, 聂勇, 等. 基于扩张观测器的直接/间接自适应鲁棒双缸同步控制[J]. 液压与气动, 2025, 49(2): 25-35. |
| [6] | 李德昀, 徐德刚, 桂卫华. 基于时间延时估计和自适应模糊滑模控制器的双机械臂协同阻抗控制[J]. 控制与决策, 2021, 36(6): 1311-1323. |
| [7] | Chen, J., Du, X., Pan, Z., Fei, Z. and Sun, X. (2025) High Sensitivity Synchronization Motion Control for an Aero-Engine Dual-Cylinder Hydraulic System. IEEE Transactions on Intelligent Transportation Systems, 26, 2573-2581. https://doi.org/10.1109/tits.2024.3496453 |
| [8] | Shtessel, Y.B., Edwards, C., Fridman, L., et al. (2014) Sliding Mode Control and Observation. 2nd Edition, Springer. |
| [9] | Dasmahapatra, S., Sarkar, B.K., Saha, R., Chatterjee, A., Mookherjee, S. and Sanyal, D. (2015) Design of an Adaptive Fuzzy-Bias SMC and Validation for a Rugged Electrohydraulic System. IEEE/ASME Transactions on Mechatronics, 20, 2708-2715. https://doi.org/10.1109/tmech.2015.2393437 |
| [10] | 刘向杰, 周孝信, 柴天佑. 模糊控制研究的现状与新发展[J]. 信息与控制, 1999, 28(4): 283-292. |
| [11] | Mitsuishi, T. (2022) Definition of Centroid Method as Defuzzification. Formalized Mathematics, 30, 125-134. https://doi.org/10.2478/forma-2022-0010 |
| [12] | 郝晓曦, 辛增淼, 王晨旭, 等. 考虑位置耦合的双液压缸系统同步误差补偿模糊PID控制方法[J]. 机床与液压, 2026, 54(4): 131-138. |
| [13] | Yang, X., Yao, J. and Deng, W. (2021) Output Feedback Adaptive Super-Twisting Sliding Mode Control of Hydraulic Systems with Disturbance Compensation. ISA Transactions, 109, 175-185. https://doi.org/10.1016/j.isatra.2020.09.014 |
