液压同步运动系统变结构控制设计

Variable Structure Control Design for Hydraulic Synchronous Motion System

以一执行器的实际运动轨迹作为另一执行器的理想跟踪目标,针对实际液压系统非线性时变特点,对两执行器的同步误差采用变结构控制策略。研究表明:采用变结构控制的液压同步运动系统,不仅具有较强的鲁棒性,而且有良好的动态品质和同步精度。

Actual motion trajectory of one actuator was used as the ideal target for another to track, based on the time -varying nonlinear characteristic of actual hydraulic system, variable structure control approach was adapted for reducing synchronous motion error of two actuators. The results show that the system adapting variable structure control has the strong robustness property, good dynamic quality and high synchronous accuracy