动态面滑模控制在大型液压起竖系统中的应用研究

针对大型液压起竖系统中的非对称液压缸建模问题，对系统负载流量和负载压力进行了重新定义，推导建立了起竖系统的非线性模型。为克服系统非线性和不确定性对起竖过程控制的影响，引入滑模控制和动态面控制，提出采用一种基于动态面滑模的控制策略，并给出了控制律。仿真结果表明，与PID控制、一般滑模控制相比，该控制方法有较强的抗干扰能力和良好的跟踪性能，提高了起竖过程的鲁棒性和稳定性。

Dynamic Surface Sliding Mode Control for Large Hydraulic Erecting System

A nonlinear model for the large hydraulic erecting system is established by redefining the load flux and load pressure of the valve controlled asymmetrical cylinder. A dynamic surface sliding mode control method is proposed to overcome the nonlinearities and uncertainties existing in the erecting process of large erecting system, and the sliding mode control and dynamic surface control are introduced in designing this controller. The control law is presented. Simulation results show that, compared to PID control and conventional sliding mode control, the dynamic surface sliding mode controller has nicer robustness and tracking performance, and the control stability and robustness of erecting system are improved.