基于升沉补偿平台多缸同步的控制策略研究

Research on Control Strategy of Multi Cylinder Synchronization Based on Heave Compensation Platform

为保证升沉补偿平台的上平台在6个液压缸运动过程中始终处于相对平稳状态,提出一种将广义预测控制与相邻交叉耦合控制相结合的控制策略,实现对平台6个液压缸的位置同步控制。采用广义预测控制作为每个液压伺服通道的位置控制器,加入相邻交叉耦合同步控制方式,使每个液压伺服通道的液压缸考虑与其相邻两通道液压缸之间的同步误差,获得新的控制量,对6个液压缸进行同步控制;利用MATLAB进行仿真。结果表明:系统响应速度快,具有较好的位置控制和同步控制性能;将基于广义预测控制的相邻交叉耦合同步控制方法应用于升沉补偿平台,简化了控制器结构,协调6个液压伺服通道,在一定程度上减小了负载扰动对平台稳定性的影响。

In order to ensure that the upper platform of heave compensation platform is always in a relatively stable state during the movement of six hydraulic cylinders,a control strategy combining generalized predictive control with adjacent cross coupling control was proposed to realize the position synchronization control of six hydraulic cylinders.The generalized predictive control was used as the position controller of each hydraulic servo channel,and the adjacent cross coupling synchronous control mode was added,so the synchronous error between the hydraulic cylinder of each hydraulic servo channel and its adjacent two hydraulic cylinders was considered,a new control quantity was obtained,and six hydraulic cylinders were synchronously controlled;MATLAB was used to simulation.The results show that the system has faster response speed and better position control and synchronization control performance;the adjacent cross coupling synchronous control method based on generalized predictive control is applied to the heave compensation platform,by which the controller structure can be simplified and six hydraulic servo channels are coordinated,and the influence of load disturbance on the platform stability can be reduced to a certain extent.