两非对称液压缸同步举升系统的自适应跟踪控制

摘要

针对由两个非对称液压缸组成的电液伺服同步举升系统,首先建立了该系统的非线性耦合模型,并在该模型的基础上设计出一种鲁棒自适应跟踪控制器.该控制器利用多变量后推设计方法实现了液压缸对目标轨迹的跟踪控制以及同步控制,并结合参数自适应律解决系统中某些参数的不确定性问题.整个控制律的设计过程通过Lyapunov函数方法保证系统的稳定性.为验证该控制律,使用AMESim软件构建两非对称液压缸同步举升系统仿真模型,仿真结果验证了提出方法的有效性.%This study presents a novel method to address the synchronization motion issue of lift system with two asymmetric hydraulic cylinders.The nonlinear coupling models are derived first.Based on these models,an adaptive tracking controller is proposed.In this controller,a multi-variable backstepping method is used to realize the position tracking and the synchronization control of two hydraulic cylinders,and an adaptive law is used to help compensate the effect of parameter uncertainty on the system.The stability of the whole system is guaranteed by the Lyapunov function method.A simulation developed by AMESim is used to demonstrate that the proposed controller is effective.