Adaptive control for a multi-axis hydraulic test rig
Adaptive control for a multi-axis hydraulic test rig
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DOI：
10.1243/09596518jsce314
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发表时间：
2007-03
期刊：
影响因子：
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通讯作者：
A. Gizatullin;K. Edge
中科院分区：
文献类型：
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作者：
A. Gizatullin;K. Edge
摘要多轴液压试验台广泛应用于工业测试领域，但对控制系统的设计仍是一个挑战。本文研究了由六个液压作动器驱动的六自由度多轴振动台的控制。所采用的策略采用自适应分散位置控制，即每个轴都有自己的自适应控制器。该方案是基于级联最小控制综合（MCS）的方法，这是一类模型参考自适应控制（MRAC）。控制器的理论背景，连同实验研究的结果。性能与其他三个固定增益控制方案进行了比较。新的自适应方案具有上级干扰抑制和指令跟踪能力。
Abstract Multi-axis hydraulic rigs are widely used in industrial testing applications but still represent a challenging area for control system design. The current paper considers the control of a six-degrees-of-freedom multi-axis shaking table driven by six hydraulic actuators. The strategy adopted employs adaptive decentralized position control, i.e. each axis has its own adaptive controller. The scheme developed is based on a cascade minimal control synthesis (MCS) approach, which is a class of model reference adaptive control (MRAC). The theoretical background to the controller is presented, together with the results of an experimental study. Performance is compared with three other fixed-gain control schemes. The new adaptive scheme has superior disturbance rejection and command tracking capabilities.