液压与气动2024，Vol.48Issue(4)：22-29,8.DOI:10.11832/j.issn.1000-4858.2024.04.004
基于扩张状态观测器的海工栈桥液压系统模型预测控制
Model Predictive Control of Offshore Gangway Hydraulic System Based on Extended State Observer
摘要
Abstract
Offshore gangway is a large marine engineering equipment used for transporting and transferring personnel and equipment during offshore operations.To address issues such as large external disturbances and uncertainties in hydraulic system model parameters for offshore gangways,a model predictive control method based on an extended state observer is proposed.Taking the offshore gangway hydraulic system as the research object,kinematic analysis and dynamic modeling were conducted,and the state space equation of the system was derived.Based on traditional model predictive control,an extended state observer was used to estimate the external load disturbances of hydraulic system and unmodeled parts of mechanical system to improve the tracking performance of model predictive control.Simulation results show that the extended state observer has good observation capability for the state and disturbance of the offshore gangway hydraulic system,effectively improving the stability and robustness of model predictive control.关键词
海工栈桥/液压系统/扩张状态观测器/模型预测控制Key words
offshore gangway/hydraulic system/extended state observer/model predictive control分类
机械制造引用本文复制引用
刘昊东,李世振,时文卓..基于扩张状态观测器的海工栈桥液压系统模型预测控制[J].液压与气动,2024,48(4):22-29,8.基金项目
国家万人计划(SQ2022QB08144) （SQ2022QB08144）
国家自然科学基金(52175054) （52175054）
山东省优秀青年基金(ZR2020YQ37) （ZR2020YQ37）
山东省重点研发计划(2020CXGC010806) （2020CXGC010806）
山东省自然科学青年基金(ZR2020QE154) （ZR2020QE154）
