基于鲁棒自适应的减震阻尼器试验台加载位移跟踪控制

Research on Load Displacement Tracking Control of Shock Absorber Test Bench Based on Robust Adaptive Control

减震阻尼器是用于建筑、桥梁、风电、管道等领域减震的核心零部件,减震阻尼器试验台是测试减震阻尼器动/静态特性的试验装置。针对减震阻尼器试验台在位移加载时实际位移与期望位移跟踪误差较大的问题,建立试验台液压伺服位移控制系统数学模型,设计鲁棒自适应控制器,并基于李雅普诺夫理论验证控制器的稳定性,提出一种基于鲁棒自适应的位移跟踪控制方法。搭建Simulink与AMESim联合仿真模型,对试验台电液伺服系统的控制方法进行仿真分析;搭建试验台并对比验证鲁棒自适应控制器与传统PID控制器的控制性能。结果表明:鲁棒自适应控制器具有较强的抗干扰能力,跟踪误差较PID控制器减少了55%,响应速度提高了66.7%,较大程度提高了试验台加载系统的位移跟踪控制精度。

Damping dampers are the core components used for vibration reduction in buildings,bridges,wind power,pipelines,and other fields.The damping damper test bench is a testing device for testing the dynamic/static characteristics of damping dampers.In response to the problem of large tracking errors between the actual displacement and the expected displacement of the shock absorber test bench during displacement loading,a mathematical model of the hydraulic servo displacement control system of the test bench is established,a robust adaptive controller is designed,and the stability of the controller is verified based on Lyapunov theory.A displacement tracking control method based on robust adaptive is proposed.Build a Simulink and AMESim joint simulation model to simulate and analyze the control methods of the electro-hydraulic servo system on the test bench;Build a test bench and compare and verify the control performance of robust adaptive controllers and traditional PID controllers.The experimental results show that the robust adaptive controller has strong anti-interference ability,reduces tracking error by 55%,improves response speed by 66.7%,and greatly improves the displacement tracking control accuracy of the loading system of the test bench.