基于振动与加载多元耦合的超冗余驱动电液系统协调控制研究

A multi-redundant controlled electro-hydraulic servo system incorporating a 6 degree-of-freedom electro-hydraulic shaking table and a 6 channels force loading system is theoretically studied and experimentally verified. In order to investigate the multi-coupling essential characteristics subjected to 6DOF vibration and 6 channels force loading and to improve the expected multi-coupling tracking accuracy, some important theories such as parallel manipulator and electro-hydraulic servo control system, system identification, robust control, etc, and coordination control of multi-redundant controlled electro-hydraulic servo system is studied in the project to solve the effects of dynamic disturbance coupling. A redundant parallel manipulator multi-coupling model is established to master the characteristics of internal coupling force and force/position coupling. An internal coupling force and force/position coupling matrix is established for the research on the control for decoupling of internal coupling force. To grasp the characteristics of disturbance coupling, a disturbance coupling model of vibration and force loading is established. Then, the disturbance coupling matrix is obtained to explore the methods for disturbance coupling suppression. The dynamic model of rigid-flexible coupling system is established to obtain the transfer characteristics of multi-coupling based on vibration and force loading. Then, a multi-coupling matrix is established to investigate the coordination control of multi-coupling and improve the performance of multi-coupling coordination control. In order to maintain the safe operation of the system under extremely severe condition, some important theories including robust control and redundant switch scheme is employed to improve the robust stability of the electro-hydraulic servo system. On the basis of above-mentioned research, integrated simulating the influence of vibration and force loading multi-coupling on the coupling performance of specimen, the characteristics of multi-coupling and mechanism of coordination control with experiment to improve the investigation ability of bogie and ground-based simulation system of spacecraft .

本项目以六自由度振动模拟和六通道协调加载集成的超冗余驱动电液系统为研究对象，以揭示振动与加载多元耦合本征特性、提高多元耦合协调控制性能为目标，针对系统动态耦合特性差及干扰耦合严重等问题，运用并联机构学和电液伺服控制系统等理论，开展系统的多元耦合协调控制研究。建立振动加载冗余驱动多元耦合模型，掌握内力及力位耦合规律，建立力位及内力耦合矩阵，研究内力解耦控制；建立振动与加载相互干扰耦合模型，掌握干扰耦合规律，建立干扰耦合矩阵，研究干扰耦合抑制方法；建立系统刚柔耦合动力学模型，掌握振动与加载多元耦合传递特性，建立其多元耦合矩阵，研究多元耦合协调控制，提高多元耦合控制性能；研究鲁棒控制及软冗余切换机制，保障系统在极端服役下的安全运行；开展实验研究，集成模拟振动加载多元耦合对被试件整体耦合性能的影响，揭示多元耦合规律及其协调控制机制，实现对高铁转向架、航天器地面模拟等的多元耦合力学环境模拟。

项目以超冗余驱动电液系统为对象，开展了基于多自由度振动加载系统的多元耦合机理及多元耦合协调控制的研究。建立了超冗余驱动电液系统振动与加载耦合模型，提出了自适应模型辨识算法，辨识出了振动加载耦合模拟系统的传递函数，设计了前馈逆模型控制器；研究了振动与加载多元耦合本征特性，掌握了超冗余驱动系统的动力学耦合特性和内力耦合特性及其产生机理；通过构建系统模态空间，建立了动力学模态解耦控制器，设计了内力反馈增益控制器用于消除和减少系统内力，结合模态解耦和内力解耦控制器实现了超冗余驱动电液系统的解耦控制；提出了基于前馈逆模型的振动控制内环和基于终端滑模算法的加载控制内环，与外环解耦控制结合共同用于实现超冗余驱动电液系统的耦合协调控制；设计了适用于超冗余驱动电液系统位移传感器和油压传感器的故障观测器，提出了集成故障诊断与容错控制的鲁棒自适应反步滑模控制器；研制了超冗余驱动电液系统实验台及其实时控制系统，对提出的控制策略进行了实验验证。研究成果出版学术专著1本，发表SCI论文15篇，EI论文2篇，授权发明专利5件。电液并联驱动转化应用情况：（1）运动振动和力加载转化应用于中国极地研究中心科考船的船用特种电梯耦合性能测试，该成果作为“特种电梯关键技术及应用”项目的主要创新点获2018年度江苏省科学技术一等奖（排名4）；（2）多液压缸协调控制转化应用于大吨位特种提升装备钢丝绳张力调节，该成果作为“深井多绳摩擦提升系统关键技术与装备”项目的核心创新点获2018年度山西省科技进步一等奖（排名2），基于该成果主持NSFC-山西煤基低碳联合基金培育项目1项；（3）振动加载耦合模拟及其检测和控制系统转化应用于水下导弹垂直发射筒盖系统，主持中央军委装备发展部与教育部联合基金项目1项、中国船舶重工集团公司第七一三研究所军工项目6项。该项目研究成果突破了振动与加载耦合环境下的电液智能协调控制关键技术，并转化应用于国防和煤矿领域。