液压与气动2025，Vol.49Issue(2)：25-35,11.DOI:10.11832/j.issn.1000-4858.2025.02.004
基于扩张观测器的直接/间接自适应鲁棒双缸同步控制
Direct/Indirect Adaptive Robust Dual-cylinder Synchronization Control Based on Expanded Observer
摘要
Abstract
In order to improve the synchronization control accuracy of the dual hydraulic cylinder drive system with unbalanced load and time-varying model parameters,the hydraulic system of"synchronous valve+bypass proportional valve"is designed,combined with adaptive robust control to achieve precise synchronization control of the dual-cylinder.On the basis of establishing the nonlinear mathematical model of the dual-cylinder drive system,a direct/indirect adaptive robust controller based on an expanded observer is designed,a simulation model of the system is established,and a joint simulation test study is conducted.The results show that the designed dual-cylinder drive synchronization control system can effectively reduce the impact of unbalanced load and unknown disturbances,track load deviations quickly,and achieve high-precision dual-cylinder synchronization control.关键词
双缸同步控制/扩张观测器/直接/间接自适应鲁棒控制Key words
dual-cylinder synchronization control/expanded observer/direct/indirect adaptive robust control分类
机械工程引用本文复制引用
许诚,陈正,聂勇,唐建中,童心..基于扩张观测器的直接/间接自适应鲁棒双缸同步控制[J].液压与气动,2025,49(2):25-35,11.基金项目
国家重点研发计划(2023YFC2809901) （2023YFC2809901）
