【摘要】 研究了一类多缸液压机在多种类型故障下的位移跟踪和调平控制问题。首先,为一类多缸液压机建立了考虑多种类型故障的数学模型;其次,基于该模型提出了一类自适应滑模容错控制算法。该算法不仅考虑了单液压缸可能发生的多类故障问题,还考虑了多液压缸同时发生多类故障问题的情况。在有效处理液压缸多类型故障的同时,无需依赖故障检测模块(FDI)。通过Lyapunov稳定性分析,证明了所提控制算法能够保证多液压缸控制系统在发生多类型故障和存在扰动情况下的一致稳定性。仿真对比表明,所提控制方法不仅能够实现高精度的位置跟踪和调平,且较传统算法在容错能力方面具有明显的优势。更多还原

【Abstract】 In this paper, a class of multi-cylinder hydraulic press’ displacement tracking and leveling control under various types of faults was studied. Firstly, a mathematical model based on various types of faults was established, and then, based on this model, an adaptive sliding mode fault-tolerant control algorithm was proposed which considers not only multiple faults that may occur in a single hydraulic cylinder, but also those in multiple hydraulic cylinders at the same time while effectively dealing with various types of faults of hydraulic cylinders without relying on the fault detection and isolation mechanism(FDI). Lyapunov stability analysis proved that the control algorithm proposed can ensure uniform stability of the multicylinder control system with multiple types of faults and disturbances. Simulation results also showed that,the control method proposed can achieve a high-precision position tracking and leveling and have obvious advantages in fault tolerance compared with traditional algorithms.更多还原