CAJ | 학술논문

针对多缸同步电液伺服系统（ MIMO系统）驱动性能易受执行器冗余和外部扰动等非线性因素影响的问题，建立了MIMO系统最简形式（四缸同步驱动系统）的动力学模型，并引入基于二次规划的动态控制理论DCAT和非线性动态逆控制策略NDI，提出了一种DCAT-NDI的多缸同步控制策略。该控制策略首先计算负载姿态期望的最优映射，实现了MIMO系统各液压缸位移期望输出的解耦；其次，根据跟踪位移误差与速度期望以及跟踪速度误差与加速度期望的相似性原理，引入位移频率带宽和速度频率带宽概念，构造各自通道的逆系统，从而求解各自通道的最优控制。仿真和实际结果表明，该文提出的控制策略比常规PID同步控制策略具有更好的同步性能和稳定性能。
침대다항동보전액사복계통（ MIMO계통）구동성능역수집행기용여화외부우동등비선성인소영향적문제，건립료MIMO계통최간형식（사항동보구동계통）적동역학모형，병인입기우이차규화적동태공제이론DCAT화비선성동태역공제책략NDI，제출료일충DCAT-NDI적다항동보공제책략。해공제책략수선계산부재자태기망적최우영사，실현료MIMO계통각액압항위이기망수출적해우；기차，근거근종위이오차여속도기망이급근종속도오차여가속도기망적상사성원리，인입위이빈솔대관화속도빈솔대관개념，구조각자통도적역계통，종이구해각자통도적최우공제。방진화실제결과표명，해문제출적공제책략비상규PID동보공제책략구유경호적동보성능화은정성능。
Aiming at the problem that the driving performance on synchro-motion system with multi-cylinder is often disturbed by nonlinear factors such as redundancy or external disturbance of actuators , a simplest dynamics model of MIMO system ( synchro-motion system with four-cylinder ) is established . Then a synchronous control strategy of multi-cylinder which is named DCAT-NDI is provided .The dynamic control allocation theory ( DACT) which is based on the constrained quadratic programming and the nonlinear dynamic inverse( NDI) control strategy is introduced in this control strategy .Firstly, the decoupling on MIMO system with desired displacement output of each cylinder is realized by optimal mapping the desired attitude of the road; Then concepts about displacement frequency bandwidth and velocity frequency bandwidth are introduced , inverse system of each channel is constructed , and the optimal control of each channel is solved according to the similarity principle between the displacement track error ( the velocity track error ) and the desired velocity ( the desired acceleration ) .The simulation and factual applications show that the proposed control strategy has a better stabilizing and synchronization performance than that of conventional control strategy.