双泵分腔调控电液负载模拟系统复合滑模控制

针对阀控电液负载模拟系统中存在的能耗高、非线性摩擦和舵机运动干扰等问题，提出双泵控制电液负载模拟系统的方案，并且采用滑模控制以保证系统的鲁棒性。建立双泵分腔调控电液负载模拟系统的数学模型；在此基础上，针对单泵控系统动态特性差的问题，设计力-总压力复合控制策略，使其具有和阀控系统相似的动态特性；对于传统的滑模控制造成系统抖振而引起系统的跟踪效果不好的问题，提出一种基于模糊趋近律的等效滑模控制器，并对其稳定性进行了理论分析。最后，经过联合仿真，验证了所设计的控制策略和控制器具有可行性和有效性。结果表明：所提出的复合滑模控制电液负载模拟系统具有良好的跟踪效果，且能够显著地降低系统能耗。

Compound Sliding Mode Control of Double-Pump Sub-chamber Control Electro-Hydraulic Load-Simulation System

Aiming at problems of high energy consumption,nonlinear friction and steering engine’s movement disturbances in valve- controlled electro-hydraulic load-simulation system,a double-pump-controlled scheme was proposed,and the sliding mode control was adopted to ensure the robustness of system.The mathematical model of double-pump sub-chamber control electro-hydraulic load-simu lation system was established.On this basis,aiming at problem of poor dynamic characteristics of the single-pump control system,force- total pressure compound control strategy was designed to make it have similar dynamic characteristics as the valve-controlled system.For the poor tracking effect problem caused by the chattering of traditional sliding mode control,an equivalent sliding mode controller based on fuzzy reaching law was proposed,and its stability was analyzed theoretically.Finally,through co-simulation,the feasibility and effectiveness of designed control strategy and controller were verified.The results show that the proposed compound control electro-hydraulic load-simulation system has good tracking effect and it can significantly reduce the system energy consumption.