本文關(guān)鍵詞：電液振動(dòng)與加載混合試驗(yàn)系統(tǒng)控制策略研究　出處：《中國(guó)礦業(yè)大學(xué)》2016年博士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 電液系統(tǒng) 混合試驗(yàn) 加速度控制 力控制 擾動(dòng)抑制

【摘要】：電液振動(dòng)與加載混合試驗(yàn)主要用于實(shí)驗(yàn)室內(nèi)對(duì)被試件所處的振動(dòng)與加載耦合力學(xué)環(huán)境進(jìn)行模擬,與傳統(tǒng)單一試驗(yàn)方式相比,能夠更加準(zhǔn)確地反映和評(píng)估耦合工況下被試件的力學(xué)性能�；旌显囼�(yàn)的核心在于利用電液控制技術(shù)在被試件上同時(shí)施加期望的加速度及加載力,而目前國(guó)內(nèi)外的研究主要集中在單一振動(dòng)或加載試驗(yàn)技術(shù)方面,在該領(lǐng)域的研究尚不成熟。因此,本文在國(guó)家自然科學(xué)基金項(xiàng)目“基于振動(dòng)與加載多元耦合的超冗余驅(qū)動(dòng)電液系統(tǒng)協(xié)調(diào)控制研究”和江蘇省自然科學(xué)基金項(xiàng)目“大型結(jié)構(gòu)振動(dòng)疲勞試驗(yàn)臺(tái)的混合控制策略研究”的資助下,以搭建的水平單自由度電液振動(dòng)與加載混合試驗(yàn)系統(tǒng)為研究對(duì)象,結(jié)合液壓傳動(dòng)理論、系統(tǒng)辨識(shí)算法、線性控制方法和非線性控制等理論,深入開(kāi)展混合試驗(yàn)系統(tǒng)控制策略的理論與實(shí)驗(yàn)研究,以期形成高精度的加速度及加載力控制策略,為混合試驗(yàn)的精確控制提供重要理論支持和技術(shù)手段。首先,介紹了本文研究的電液振動(dòng)與加載混合試驗(yàn)系統(tǒng)結(jié)構(gòu)形式,考慮液壓系統(tǒng)非線性建立了其數(shù)學(xué)模型;基于加速度及加載力常規(guī)控制方法構(gòu)建了混合試驗(yàn)系統(tǒng)仿真模型,分析了混合試驗(yàn)系統(tǒng)的動(dòng)態(tài)特性;搭建了水平向單自由度電液振動(dòng)與加載混合試驗(yàn)系統(tǒng)實(shí)驗(yàn)臺(tái),為后續(xù)控制策略的實(shí)驗(yàn)研究奠定了基礎(chǔ)。其次,針對(duì)混合試驗(yàn)系統(tǒng)加速度控制問(wèn)題,采用辨識(shí)算法及零幅值跟蹤技術(shù)分別得到了三狀態(tài)控制下的加速度閉環(huán)系統(tǒng)參數(shù)化模型及其穩(wěn)定逆模型,構(gòu)建了混合試驗(yàn)系統(tǒng)加速度前饋逆補(bǔ)償控制策略;離線設(shè)計(jì)了模型偏差補(bǔ)償控制器,提出了改進(jìn)的前饋逆補(bǔ)償控制策略,進(jìn)一步利用自適應(yīng)控制算法,形成了基于改進(jìn)前饋逆控制和自適應(yīng)控制相結(jié)合的加速度復(fù)合控制方案;開(kāi)展了混合試驗(yàn)系統(tǒng)加速度控制策略的實(shí)驗(yàn)研究,驗(yàn)證了提出控制策略的有效性。再次,針對(duì)混合試驗(yàn)系統(tǒng)力加載控制問(wèn)題,從線性控制理論出發(fā),采用結(jié)構(gòu)不變性原理提出了基于實(shí)時(shí)加載力和擾動(dòng)液壓缸控制電壓的前饋補(bǔ)償控制方案,克服了傳統(tǒng)速度前饋補(bǔ)償控制在應(yīng)對(duì)加速度擾動(dòng)時(shí)的不足;引入帶干擾觀測(cè)器的前饋逆補(bǔ)償控制策略,將其與基于加載力和控制電壓的前饋補(bǔ)償方案相結(jié)合,形成一種混合試驗(yàn)系統(tǒng)新型復(fù)合控制策略;開(kāi)展了混合試驗(yàn)系統(tǒng)力加載控制策略的實(shí)驗(yàn)研究,驗(yàn)證了提出線性復(fù)合控制策略的有效性。最后,針對(duì)混合試驗(yàn)系統(tǒng)力加載控制問(wèn)題,從非線性控制理論出發(fā),在考慮電液系統(tǒng)非線性特性的基礎(chǔ)上,基于力加載非線性數(shù)學(xué)模型逐級(jí)遞推得到了混合試驗(yàn)系統(tǒng)反步控制策略;考慮力加載非線性模型中的參數(shù)不確定性,將其引入到Lyapunov函數(shù)的構(gòu)建中,遞推得到了混合試驗(yàn)系統(tǒng)自適應(yīng)反步控制策略,通過(guò)形成的自適應(yīng)更新率對(duì)不確定性參數(shù)進(jìn)行在線調(diào)節(jié);開(kāi)展了混合試驗(yàn)系統(tǒng)力加載控制策略的實(shí)驗(yàn)研究,驗(yàn)證了提出非線性控制器的有效性。
[Abstract]:Electro hydraulic vibration loading and hybrid testing is mainly used for the simulation of the specimen at the loading coupling vibration and mechanical environment of the laboratory, compared with the traditional single test mode, which can accurately reflect and evaluate the coupling conditions by the mechanical properties of the specimen. The core hybrid test is to use electro-hydraulic control technology in subjects the acceleration and the loading force is applied at the same time on expectations, and the current research at home and abroad mainly focus on the single vibration or load test technique, the research in this field is not mature. Therefore, based on the National Natural Science Fund Project "based on hyper redundant drive electrohydraulic loading system vibration and multi coupling coordination control research" and the Jiangsu Province Natural Science Fund Project "large test bench structure vibration fatigue research of hybrid control funding, to build the level of a single degree of freedom Electro-hydraulic Vibration With the loading hybrid test system as the research object, combined with hydraulic transmission theory, system identification algorithm, linear control method and nonlinear control theory, carry out theoretical and Experimental Research on control strategy of hybrid test system, in order to form the acceleration and the loading force of high precision control strategy provides an important theoretical support and technical means for controlling mixing test. First, this paper describes the Electro-hydraulic Vibration Loading Test System and hybrid structure, considering the nonlinear hydraulic system and its mathematical model is established; the acceleration and the loading force of conventional control method based on the constructed hybrid test system simulation model to analyze the dynamic characteristics of hybrid test system; build a horizontal electric single degree of freedom hydraulic vibration loading and hybrid test system experiment platform, which laid the foundation for the subsequent study of control strategy. Secondly, aiming at the hybrid test The system acceleration control problem, the identification algorithm and zero amplitude tracking technology obtained acceleration closed-loop system parametric model under the control of three state and stable inverse model, constructed a hybrid test system acceleration feedforward inverse compensation control strategy; off-line design model deviation compensation controller, the inverse compensation control strategy of improved feedforward, further use the adaptive control algorithm, forming a composite control scheme to improve acceleration feedforward inverse control and adaptive control based on combination; experiment were carried out to study the acceleration control strategy of hybrid test system, verify the effectiveness of the proposed control strategy. Thirdly, aiming at hybrid test system load control problem, starting from the linear control theory, using structure invariance principle put forward and disturbance feedforward compensation control scheme based on real-time voltage control of hydraulic cylinder loading force, To overcome the shortcomings of traditional speed feedforward compensation control in response to acceleration disturbance; disturbance observer with feed-forward inverse compensation control strategy, combined with the feedforward compensation scheme based on the load and the control voltage of the phase, forming a hybrid test system of new composite control strategy; experimental research was carried out on the hybrid test system load control strategy the verified the validity of the linear composite control strategy. Finally, the hybrid test system load control problem, starting from the nonlinear control theory, considering the nonlinear characteristics of the electric hydraulic system, the nonlinear mathematical model of loading step by step recursion of the hybrid test system based on backstepping control strategy considering the loading parameters; in the nonlinear model uncertainty is introduced to the construction of Lyapunov function, the recursive hybrid adaptive backstepping control system test The strategy is to adjust the uncertain parameters online by the adaptive update rate, and carry out the experimental research of the force loading control strategy of the hybrid test system, which validates the validity of the nonlinear controller.

【學(xué)位授予單位】：中國(guó)礦業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TH137;TP273

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