基于反推的电液比例系统共振频率控制

Resonant Frequency Control of Electro-hydraulic Proportional System Based on Back-stepping

针对电液比例系统的非线性以及不确定性因素对破碎频率控制的影响,设计反推的频率控制方法。建立电液比例阀控液压马达的破碎机构的非线性模型,特别是考虑了比例阀的动态频率和阻尼特性,将系统的各不确定性参数对破碎频率的影响等效为液压马达轴上的负载波动;设计基于反推的控制律,构建各步骤的误差信号、虚拟控制信号和目标函数间的关系,在不确定性有界的前提下保证了液压马达输出转速渐近跟踪的稳定性。给出频率控制系统的模型参数,并在基于Matlab6.5的环境下进行了仿真研究以及车载试验,结果表明,对于具有不确定性因素的电液比例频率控制系统,反推控制策略具有较好的控制性能,能够满足共振式破碎机的工程应用要求。

A back-stepping control method of the Resonant Frequency system is designed, for the electro-hydraulic proportional system with non-linearity as well as uncertainties on the impact of broken frequency control. A nonlinear model of resonant frequency control system is set up. The uncertainties parameters are equal to the hydraulic motor shaft load fluctuations. The detailed designs method, in- eluding Lyapunov functions, virtual control signals and final control signal are discussed chiefly. The model parameters are given, the result of simulation with Matlab 6. 5 and test on vehicle shows that the control strategy for electro-hydraulic proportional system has good performance, and satisfies the need of pavement breaker.