锻压技术

多缸液压机的滑模变结构智能同步控制

英文标题：Intelligence synchronous control on sliding mode variable structure for multicylinder hydraulic press

作者：陶翠霞赵鹏孙波

分类号：TP23

出版年,卷(期):页码：2021,46(6):142-149

摘要：

为了减小多缸液压机的同步控制误差和跟踪误差，设计了基于饱和函数控制律的改进型相邻交叉耦合控制器。以阀控电压为控制量，建立了四缸液压机同步系统的动力学模型。为了减少控制器输入量的数量并降低控制律的复杂度，改进了相邻交叉耦合控制器。为了减小滑模控制的抖振幅度，基于饱和函数提出了滑模层的概念，使滑模层内的系统状态在接近滑模面时的切换惯性减小，从而减弱了抖振问题。经仿真与实验验证，饱和函数控制律的抖振幅度远远小于符号函数控制律的抖振幅度；在仿真偏载情况下，最大稳态同步误差为0.03 mm，在实验偏载情况下，最大稳态同步误差为0.0413 mm，基于饱和函数控制律的改进型相邻交叉耦合控制器能够实现较高精度的同步控制。

To reduce the synchronous control error and tracking error of multi-cylinder hydraulic press, the improved adjacent cross-coupling controller based on the saturation function control law was designed, and the dynamic model of synchronious system for a four-cylinder hydraulic press was built by setting valve-control voltage as control quantity. Then, the adjacent cross-coupling controller was improved to reduce the number of controller input and the complexity of control law, and the concept of sliding mode layer based on saturation function was put forward to decrease the chattering amplitude of sliding mode control, which reduced the switching inertia when the system state in the sliding mode layer was close to the sliding mode surface, thereby reducing the chattering problem. The simulation and experimental verification show that the chattering amplitude of the saturation function control law is far less than that of the sign function control law. In the case of simulated eccentric load, the maximum stable synchronous error is 0.03 mm, and in the case of experimental eccentric load, the maximum stable synchronous error is 0.0413 mm. Thus, the improved adjacent cross-coupling controller based on the saturation function control law realizes high-precision synchronous control.

基金项目：

山东省高等学校“青创科技计划”资助项目(2019KJN015)；山东省职业教育技艺技能传承创新平台资助项目

陶翠霞（1979-），女，硕士，副教授 E-mail：yang5551314@126.com

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