| 电液伺服试验机力控系统负载刚度自适应控制 |
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| 引用本文： | 苏世杰,游有鹏,齐继阳,赵华. 电液伺服试验机力控系统负载刚度自适应控制[J]. 控制理论与应用, 2018, 35(4): 429-437 |
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| 作者姓名： | 苏世杰 游有鹏 齐继阳 赵华 |
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| 作者单位： | 南京航空航天大学机电学院;江苏科技大学江苏省船海机械装备先进制造重点实验室;舟山市质量技术监督检测研究院 |
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| 基金项目： | 国家质检总局质检公益性行业科研项目(201310111), 浙江省质检科研重点项目(20170161)资助. |
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| 摘 要： | 负载刚度的变化会导致电液伺服力控系统的控制特性发生改变,从而降低系统的稳定性与控制精度.本文以电液伺服万能试验机为研究对象,首先建立了考虑负载刚度的力控系统数学模型,分析了负载刚度的变化对控制特性的影响;其次设计了模型参考自适应(MRAC)控制器,并根据试验机力控系统的设计目标提出了一种具有最小拍响应特性且满足严格正实要求的参考模型;然后利用Simulink对最小拍参考模型MRAC控制器及PID控制器进行了仿真,并在自制的实验平台上采用两种不同刚度的试样分别进行了等速力加载实验,仿真及实验结果表明所设计的控制器能有效的抑制试样刚度的差异所引起的控制特性的变化,使电液伺服力控系统的响应具有良好的一致性.
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| 关 键 词： | 自适应控制 电液伺服 力控制 最小拍参考模型 电液伺服万能试验机 |
| 收稿时间： | 2017-07-21 |
| 修稿时间： | 2018-03-28 |
Load rigidity adaptive control of electro-hydraulic servo universal testing machine force control system |
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| SU Shi-jie,YOU You-peng,QI Ji-yang and ZHAO Hua. Load rigidity adaptive control of electro-hydraulic servo universal testing machine force control system[J]. Control Theory & Applications, 2018, 35(4): 429-437 |
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| Authors: | SU Shi-jie YOU You-peng QI Ji-yang ZHAO Hua |
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| Affiliation: | School of mechanical and electrical engineering,Nanjing University of Aeronautics and Astronautics,School of mechanical and electrical engineering,Nanjing University of Aeronautics and Astronautics,School of mechanical engineering, Jiangsu University of Science and Technology,Zhoushan Institute of Calibration and Testing for Quality and Technology Supervision |
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| Abstract: | The control accuracy and stability of electro-hydraulic servo force control system will decrease with thechange of the control characteristic of system which influenced by different specimen rigidity. First, a mathematical modelof force control system considering load rigidity is established, and the influence of the change of load rigidity on thecontrol characteristic is analyzed. Then, a model reference adaptive (MRAC) controller is designed, and a novel referencemodel which has the characteristics of minimum deadbeat response and strictly positive real has been present. Finally, theperformance of minimum deadbeat response MRAC Controller and PID controller have been simulated by Simulink, andconstant force speed loading experiments were carried out on the self-made experimental platform by using two specimenswith different rigidity. The simulation and experimental results show that the minimum deadbeat response MRAC controllerhas the advantages of fast response, small overshoot and zero steady-state error, and can effectively restrain the parameterdrift of electro-hydraulic servo force control system caused by different specimen rigidity |
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| Keywords: | adaptive control electro-hydraulic servo force control minimum deadbeat response reference model electro-hydraulic servo universal testing machine |
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