双液压缸同步运动的复合滑模控制
Compound Sliding Mode Control of Synchronous Motion of Dual Hydraulic Cylinders
摘要: 液压系统存在强非线性、参数不确定性及外部干扰等问题，传统控制方法难以实现高精度同步控制。为此，本文提出一种基于超螺旋滑模观测器(Super Twisting Sliding Mode Observer, SMO)的液压缸同步复合滑模控制方法。设计超螺旋滑模观测器对系统状态及集总扰动进行实时估计，有效抑制高频抖振并提高观测精度；结合模糊逻辑理论，设计外环模糊滑模控制器，根据系统误差动态调整滑模切换增益，增强系统的鲁棒性和自适应能力；同时，引入内环积分滑模控制项以减小稳态误差，提升同步跟踪精度。理论分析证明了闭环系统的稳定性，并通过仿真验证了所提方法的有效性。
Abstract: Due to strong nonlinearities, parameter uncertainties, and external disturbances, achieving high-precision synchronization in hydraulic systems remains challenging for conventional controllers. This paper proposes a composite sliding mode control (SMC) method for hydraulic cylinder synchronization based on a super-twisting SMO. The super-twisting SMO is employed for the real-time estimation of system states and lumped disturbances, effectively suppressing high-frequency chattering and improving observation precision. By integrating fuzzy logic, a fuzzy SMC is designed to dynamically adjust the switching gain based on system errors, which enhances system robustness and adaptability. Additionally, an integral SMC term is introduced to minimize steady-state errors and elevate tracking accuracy. Theoretical analysis guarantees the closed-loop stability, and simulation results verify the effectiveness of the proposed strategy.
文章引用：张志斌, 王经甫, 丁世博, 车德桉. 双液压缸同步运动的复合滑模控制[J]. 机械工程与技术, 2026, 15(3): 362-373. https://doi.org/10.12677/met.2026.153036

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