多缸电液调平系统相邻交叉耦合同步控制

摘要

针对某导管架平台电液调平系统多缸运动同步控制问题,引入最小相关轴数控制思想,基于相邻交叉耦合控制和滑模变结构控制理论,设计了多缸运动同步控制器,该同步控制器由1个单通道跟踪误差控制器和2个相邻同步误差控制器构成.对单通道子系统中由于长管路存在导致的时延问题,提出了一种具有滑模预估结构的误差跟踪控制器,并以四缸运动同步控制系统为例进行了仿真研究,结果表明该同步控制方法具有较好的控制效果和较强的鲁棒性,证明了方法的有效性.%In order to solve the multi-cylinder movement synchronization problem of an electro-hydraulic leveling system for offshore jacket platforms, a position synchronization control strategy based on the least correlative axis control was developed by employing the adjacent cross coupling control structure and sliding mode variable-structure control method. The synchronization controller was composed of a one-channel tracking error controller and two adjacent synchronous error controllers. Due to the time delay of a single channel caused by a long pipeline, a tracking error controller with a sliding mode predictor structure was designed. The simulation results of the four-cylinder movement synchronization control system show that the tracking error controller and synchronization controller have better robustness and demonstrate the effectiveness of the proposed method.