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浙江大学学报(工学版)
浙江大学学报(工学版)  2017, Vol. 51 Issue (10): 1937-1947    DOI: 10.3785/j.issn.1008-973X.2017.10.007
机械与能源工程     
基于级联控制器的液压机位移/压力复合控制
郭凡1, 魏建华1, 张强1, 熊义2
1. 浙江大学 流体动力与机电系统国家重点实验室, 浙江 杭州 310027;
2. 南通锻压设备股份有限公司, 江苏 南通 226578
Hybrid position/pressure control of hydraulic press based on cascade controller
GUO Fan1, WEI Jian-hua1, ZHANG Qiang1, XIONG Yi2
1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;
2. Nantong Metalforming Equipment Limited Company, Nantong 226578, China
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摘要：

针对液压机的电液系统控制难题，提出非线性级联控制器，对液压机在慢速加压阶段的位移、压力进行复合控制.为了克服系统参数不确定性对压力控制带来的显著影响，该非线性级联控制器的压力控制环采用扰动观测器对油液体积弹性模量、伺服比例阀流量增益、液压缸泄漏系数等参数的不确定性所产生的集中扰动进行在线估计及补偿，利用无源性定理证明了压力控制环的稳定性；考虑到系统参数不确定性及各种外干扰对滑块位移控制带来的不利影响，该非线性级联控制器的位移控制环基于滑模控制而设计；位移控制和压力控制的切换取决于当前位移.实验结果表明，该非线性级联控制器能够使得液压机在慢速加压阶段实现高精度、平稳的位移控制及压力控制，可以实现这两者之间的平稳切换.
Abstract:

A nonlinear cascade controller was proposed to control the position and pressure during the slow compression stage in view of the control problems faced in the electrohydraulic systems of hydraulic press. The pressure control loop of the nonlinear cascade controller adopted a disturbance observer to estimate and compensate for the lumped disturbance on-line in order to overcome the significant influence of the system parametric uncertainties on the pressure control performance. The lumped disturbance on-line was caused by the parametric uncertainties associated with the bulk modulus of the oil, flow gain of the servo-proportional valve, leakage coefficient of the hydraulic cylinder, and so on. The stability of the pressure control loop was proved using the passivity theorem. The position control loop of the nonlinear cascade controller was designed based on the sliding mode control considering the negative influence of the system parametric uncertainties and various external disturbances on the position control performance. The switch between the position control and the pressure control was depended on current position. The experimental results demonstrate that the proposed nonlinear cascade controller can make the hydraulic press achieve high-precision and smooth position control and pressure control during the slow compression stage, and make the switch between the position control and pressure control smooth.
收稿日期: 2016-09-02 出版日期: 2017-09-27
CLC:  TH137  
基金资助:

国家自然科学基金资助项目（51075359）；国家“863”高技术研究发展计划资助项目（2012AA041801）.
通讯作者: 魏建华,男,教授,博导.ORCID:0000-0003-1150-8216.     E-mail: jhwei@zju.edu.cn
作者简介: 郭凡(1986-),男,博士生,从事大型装备电液控制系统的研究.ORCID:0000-0001-9302-5052.E-mail:guofan_ZD@163.com
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引用本文:

郭凡, 魏建华, 张强, 熊义. 基于级联控制器的液压机位移/压力复合控制[J]. 浙江大学学报(工学版), 2017, 51(10): 1937-1947.

GUO Fan, WEI Jian-hua, ZHANG Qiang, XIONG Yi. Hybrid position/pressure control of hydraulic press based on cascade controller. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(10): 1937-1947.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2017.10.007    或    http://www.zjujournals.com/eng/CN/Y2017/V51/I10/1937

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