熊 义,魏建华,胡 波,冯瑞琳.基于液压无源性理论的电液系统非线性鲁棒控制方法[J].农业机械学报,2015,46(11):383-391.
Xiong Yi,Wei Jianhua,Hu Bo,Feng Ruilin.Hydraulic Passivity Based Nonlinear Robust Control for Electrohydraulic System[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(11):383-391.
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基于液压无源性理论的电液系统非线性鲁棒控制方法   [下载全文]
Hydraulic Passivity Based Nonlinear Robust Control for Electrohydraulic System   [Download Pdf][in English]
投稿时间:2015-04-03  
DOI:10.6041/j.issn.1000-1298.2015.11.052
中文关键词:  液压无源性 电液系统 非线性 鲁棒控制
基金项目:国家自然科学基金资助项目(51075359)
作者单位
熊 义 浙江大学 
魏建华 浙江大学 
胡 波 浙江大学 
冯瑞琳 浙江大学 
中文摘要:考虑电液系统的强非线性特点,提出了一种基于液压无源性理论的非线性鲁棒控制方法。该控制方法利用跟踪误差的滑模与液压无源性理论中的压力误差储能函数构建Lyapunov函数,backstepping逆向递推过程分解为位置跟踪与压力跟踪两个环节,为了化解电液系统中两个控制容腔的压力内动态所造成的冗余自由度难题,提出了基于稳态工作点的期望压力分配策略,从而推导出非线性鲁棒控制律。在样机系统上的实验结果表明,被试电液系统在跟踪02~20mm/s速度范围内指令轨迹时跟踪误差的均方根均在5μm以内,基于液压无源性的非线性鲁棒控制方法实现了良好的跟踪性能与性能鲁棒性。
Xiong Yi  Wei Jianhua  Hu Bo  Feng Ruilin
Zhejiang University,Zhejiang University,Zhejiang University and Zhejiang University
Key Words:Hydraulic passivity Electrohydraulic system Nonlinear Robust control
Abstract:Taking into account the strong nonlinearity associated with the dynamics of the electrohydraulic system, a passivity based nonlinear robust control method was developed for it. In the proposed method, the Lyapunov function was designed with the sliding mode of tracking error and the pressure error storage function constructed in the hydraulic passivity theory. Thus the backstepping design process can be decomposed into two cascaded steps: position tracking and pressure tracking. The electrohydraulic system has a redundant dimension, as the two chambers of the hydraulic actuator have different areas. The added internal dynamics of pressure also brought the stability issue. To handle this difficulty, a steady state working point based assignment strategy was presented. This strategy combines force and flow constraint conditions, such that it can assign unique desired pressure for each chamber of the hydraulic actuator. As a result, the nonlinear robust control law was synthesized. Experiments were carried out on a prototype system to validate the effectiveness of the proposed method. The experiment results show that with the developed controller, the electrohydraulic system achieves accurate tracking. The error is no more than 5μm, while tracking constant speed and sinusoidal trajectories. The proposed control method presents good tracking performance and performance robustness. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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