改进型环形耦合结构的多缸比例同步控制

分析了多轴同步控制结构与算法的发展现状,针对等状态耦合控制在实际应用中的不足,提出一种基于归一化的同步比例系数分配方法,使它适用于多运动轴的比例同步控制,并在此基础上设计了改进型的环形耦合控制策略,利用李雅普诺夫函数证明了该算法的收敛性和稳定性.以某跨超声速风洞挠性壁喷管为控制对象,对其终端执行机构电动缸和控制系统进行建模仿真,结果表明:该控制策略相较虚拟主轴控制方式,具有更好的同步性能和抗干扰能力.通过进行对比实验,也证明该策略能很好地实现多轴比例同步控制,且具有更高的跟踪精度和同步精度,对相关领域具有一定的参考价值.

Multiple electric cylinders proportion synchronization control based on improved cycle-coupling structure

The development status of multi-axis synchronization control structure and algorithm was analyzed. To solve the problem that equal state coupling control in practical application, the proportion coefficient distribution method based on normalization is proposed for multi-axis proportional synchronization control, and an improved cycle-coupling control strategy was designed on this basis. The convergence and stability of which are proved by use of Lyapunov function. Take the flexible nozzle as control plant, its models of terminal actuator electric cylinder and contour control system are established. The simulation results show that the proposed strategy has better synchronized stability behavior and robustness than Virtual-Shaft control. The experiment results that through contour control system of trans-supersonic wind tunnel also show that the proposed strategy can effectively achieve multi-axis proportional synchronous control, has higher tracking precision and synchronous precision, and also has a certain reference value to related field.