欢迎访问机床与液压官方网站!

咨询热线:020-32385312 32385313 RSS EMAIL-ALERT
基于论域自适应模糊耦合的重载液压平台同步控制*
DOI:
作者:
作者单位:

1.中石化重型起重运输工程有限责任公司;2.山西大同大学 机电工程学院

作者简介:

通讯作者:

中图分类号:

TJ06

基金项目:

2020年大同市科技计划项目(2020022)


Domain Adaptive Fuzzy Coupling Synchronous Control of Heavy-duty Hydraulic Platform
Author:
Affiliation:

1.Sinopec Heavy Lifting and Transportation Co,Ltd;2.School of Mechanical and Electrical Engineering,Shanxi Datong University,Shanxi Datong

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    为了提高重型液压平台的同步控制精度和控制速度,提出了基于论域自适应模糊-相邻交叉耦合的同步控制方法。以4液压缸驱动的重型液压平台为研究对象,从宏观上建立了液压平台同步控制的动力学方程,从微观上建立了液压缸的状态空间方程。介绍了相邻交叉耦合同步控制原理,针对模糊控制论域尺度固定导致的模糊规则闲置问题,设计了论域随跟踪误差、误差变化率自适应变化方法,提出了基于自适应论域模糊控制的相邻交叉耦合同步控制方法。设计了4缸驱动液压实验平台,在多负载工况下进行验证可知,自适应论域模糊控制的最大俯仰角均值、最大滚转角均值、最大同步误差均值、调节时间均值都小于传统模糊控制、模糊PID控制、滑模控制。实验结果验证了自适应论域模糊控制在重型液压平台控制中的优越性。

    Abstract:

    In order to improve the synchronous control accuracy and speed of heavy hydraulic platform, a synchronous control method based on universe adaptive fuzzy adjacent cross coupling is proposed. Taking the heavy hydraulic platform driven by 4 hydraulic cylinders as the research object, the dynamic equation of synchronous control of the hydraulic platform is established from the macro level, and the state space equation of the hydraulic cylinder is established from the micro level. The principle of adjacent cross coupling synchronous control is introduced. Aiming at the idle problem of fuzzy rules caused by the fixed scale of fuzzy control domain, an adaptive change method of domain with tracking error and error change rate is designed, and an adjacent cross coupling synchronous control method based on adaptive domain fuzzy control is proposed. A 4-cylinder drive hydraulic experimental platform is designed and verified under multi load conditions. It can be seen that the maximum pitch angle mean value, maximum roll angle mean value, maximum synchronization error mean value and adjustment time mean value of adaptive universe fuzzy control are smaller than those of traditional fuzzy control, fuzzy PID control and sliding mode control. The experimental results verify the superiority of adaptive universe fuzzy control in the control of heavy hydraulic platform.

    参考文献
    相似文献
    引证文献
引用本文
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2022-07-11
  • 最后修改日期:2022-07-11
  • 录用日期:2022-09-19
  • 在线发布日期:
  • 出版日期: