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针对大型装备液压系统的非线性、不确定性和现有非线性控制策略很难应用于大型液压装备控制的问题,通过权衡控制策略的复杂性和模型的精确性,将电液系统模型中的不确定参数分解成精确项和不确定项的组合,利用反馈线性化策略控制精确项,利用改进的滑模变结构控制策略补偿参数的不确定项,提出了适用于工业控制器PLC的鲁棒控制策略。并对负载质量变化、系统压力波动、负载力变化、体积模量变化的鲁棒性进行了实验研究。研究结果表明,改进鲁棒控制策略的鲁棒性较好、控制精度高。
The nonlinear and uncertainties of large equipment hydraulic system and the existing nonlinear control strategy are difficult to be applied to the control of large hydraulic equipment. By weighing the complexity of the control strategy and the accuracy of the model, The uncertain parameters are decomposed into a combination of the exact term and the uncertain term, the feedback linearization strategy is used to control the exact term, and the sliding mode variable structure control strategy is used to compensate the uncertainty of the parameters. A robust controller suitable for industrial PLC is proposed Control Strategy. The robustness of load mass change, system pressure fluctuation, load force change and bulk modulus change were studied experimentally. The results show that the improved robust control strategy has better robustness and higher control accuracy.