起重臂动态面自适应模糊滑模控制联合仿真研究

转载车上的起重臂俯仰机构是常见的机电液系统。为了克服转载时系统存在非线性特性和干扰等问题,提出了一种动态面自适应模糊滑模控制的方法。基于反演滑模控制设计了李亚普诺夫函数和虚拟控制量,分别引入动态面控制计算虚拟控制量的导数、自适应控制对参数进行在线估计和模糊控制对切换项进行模糊化。为了更准确地模拟转载作业过程和验证控制器的性能,提出了基于AMESim和Simulink联合仿真的方法,利用AMESim的元件库建立系统的机械-液压模型,并通过软件接口与Simulink模型相连构建联合仿真模型。经仿真验证,所设计的滑模控制器具有较高的控制精度和较强的鲁棒性,并消除了抖振。

Co-simulation of Adaptive Fuzzy Sliding Mode Control for Crane Dynamic Surface

A crane lifting mechanism on transfer vehicle is a common electromechanical-hydraulic system. In order to overcome problems of nonlinear characteristics and interference that exist in transit, a dynamic surface adaptive fuzzy sliding mode control method is proposed. Then the Lyapunov function and virtual controlled quantity base on inversion of sliding mode control are designed, and dynamic surface control which is used to calculate the derivative of virtual controlled quantity and adaptive control are applied to estimate parameters online. Furthermore, fuzzy control is applied to fuzzify switching item of sliding surface. To more accurately simulate the transit process and verify controller’s performance, a method based on a co-simulation of AMESim and Simulink is proposed. Then AMESim components’ library is used to build a model of mechanical-hydraulic system, and we build a joint simulation model by connecting software interface with a Simulink model. Verified by simulation,the designed sliding mode controller has higher control accuracy and stronger robustness and eliminates system"s chatter.