哈尔滨工程大学学报2023，Vol.55Issue(10)：1849-1856,8.DOI:10.11990/jheu.202301002
深水清淤机械臂阀控液压油缸的加速干扰自适应滑模控制方法
Accelerated-interference adaptive sliding mode control method for the valve-controlled hydraulic cylinders of a deep-water dredging manipulator
摘要
Abstract
With the goal of overcoming the difficulties faced by a valve-controlled asymmetric oil cylinder of a deep-water dredging manipulator due to the characteristics of high-order nonlinearity and underwater working environment with large disturbance,this paper proposes a new adaptive sliding mode control method with accelerated disturbance.We established a hierarchical control model of a hydraulic cylinder by sorting out the high-order nonlinear model of the system.Using the backstepping method,a sliding mode controller was designed with a convergent sliding mode exponent,after which an adaptive method with accelerated disturbance was proposed based on this method.Furthermore,we verified the stability of this compound control method based on the Lyapunov stability theory.Using the Simscape platform,simulations were conducted in multiple physical domains.The results showed that the proposed accelerated disturbance adaptive sliding mode control method can achieve fast and accurate position tracking.Moreover,compared with the proportional-integral-derivative(PID)control,this mode has such characteristics as fast response and small overshoot.Finally,compared with the adaptive sliding mode control method with common disturbance,it possesses the characteristics of lower steady-state error and faster interference estimation speed.关键词
自适应控制/滑模控制/机械臂/清淤机械/阀控液压油缸/非线性系统/神经网络/多物理域仿真Key words
adaptive control/sliding mode control/mechanical arm/dredging machinery/valve controlled hydraulic cylinder/nonlinear system/neural network/multi-physical domain simulation分类
机械制造引用本文复制引用
樊帆,郑皓,史浩东,彭赛锋..深水清淤机械臂阀控液压油缸的加速干扰自适应滑模控制方法[J].哈尔滨工程大学学报,2023,55(10):1849-1856,8.基金项目
湖南省科技重大专项计划项目(2018SK1010) （2018SK1010）
国家重点研发计划(2016YFC0401607). （2016YFC0401607）
