摘要
针对高阶、非线性和时变负载干扰的阀控缸系统提出了非线性反步控制算法,利用实时Linux系统、研华控制板卡和Visual Studio code仿真软件等技术搭建的阀控缸半实物仿真系统对反步控制算法进行仿真调试。首先,通过李雅普诺夫理论对阀控缸系统反步控制算法进行状态反馈设计;其次,借助AMESim软件验证搭建的半实物仿真系统具有较高的准确性;最后,在系统受到外部负载干扰时,在该半实物仿真系统完成了反步算法和PID算法的仿真试验。半实物仿真表明,反步算法相比传统PID算法具有较高的控制精度,能有效抑制系统的负载干扰,证明反步法可以对阀控缸系统运动轨迹有效跟踪控制。
A nonlinear backstepping control algorithm was proposed for the valve-controlled cylinder system with high-order,nonlinear and time-varying load interference.The backstepping control algorithm was simulated and debugged by the valve-controlled cylinder semi-physical simulation system built by real-time Linux system,Advantech control board and Visual Studio code simulation software.Firstly,the backstepping control algorithm of valve-controlled cylinder system is designed by state feedback based on Lyapunov theory.Secondly,the AMESim software proves that the semi-physical simulation system has high accuracy.Finally,when the system is interfered by external load,the simulation test of backstepping algorithm and PID algorithm is compl eted on the hardware-in-the-loop simulation system.Compared with the traditional PID algorithm,the semi-physical simulation shows that the backstepping algorithm has higher control precision,reducing the impact of system on load interference.And the backstepping algorithm is proved to be effective in tracking and controlling the motion trajectory of valve-controlled cylinder system.
作者
王志科
梁全
WANG Zhike;LIANG Quan(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《组合机床与自动化加工技术》
北大核心
2023年第7期18-21,27,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(51775354)。
关键词
负载干扰
反步法
阀控缸系统
实时Linux系统
半实物仿真
load interference
backstepping
valve-controlled cylinder system
real-time Linux system
semi-physical simulation
