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为一类多缸液压机建立了适用于控制分配理论的非线性系统数学模型,并根据该模型的特点,提出了一种新型的多缸液压机控制器设计方法.该方法将多缸液压机的控制器设计分为虚拟量控制器设计、控制分配设计及最终控制律设计三个环节.首先根据控制要求得到滑块运动所需的三个虚拟控制输入量;然后基于控制分配理论对这三个虚拟输入量进行规划求解,计算出分配给各个液压缸的期望输出力;最后将这些输出力作为期望目标,采用分散滑模控制方法得到了各液压缸实际所需的分散滑模控制律.仿真实验及对比表明:所设计的控制器能够在位于不同位置的可变偏载作用下实现高精度的位置跟踪,且获得了较好的调平效果,有效解决了多缸冗余液压机控制律难于求解的问题.
For a class of multi-cylinder hydraulic press, a mathematical model of nonlinear system suitable for control distribution theory is established. According to the characteristics of the model, a new design method of multi-cylinder hydraulic machine controller is proposed. The design is divided into three parts: virtual quantity controller design, control distribution design and final control law design.Firstly, the three virtual control inputs needed for the slider motion are obtained according to the control requirements. Then based on the control distribution theory, the three virtual inputs And calculate the expected output force distributed to each hydraulic cylinder.At last, we use the distributed sliding mode control method to get the decentralized sliding mode control law that each cylinder actually needs.Furthermore, The comparison shows that the designed controller can realize high-precision position tracking under the variable partial loads located in different positions and obtain a good leveling effect, which effectively solves the problem that the control law of multi-cylinder redundant hydraulic machine is difficult to be solved problem.