A Model Predictive Control of Asymmetric Valve Control Hydraulic Cylinders Based onSupport Vector Machine and Sequential Quadratic Programming Algorithm

doi:10.7652/xjtuxb202001012

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A Model Predictive Control of Asymmetric Valve Control Hydraulic Cylinders Based onSupport Vector Machine and Sequential Quadratic Programming Algorithm

更新时间：2025-07-09

- A Model Predictive Control of Asymmetric Valve Control Hydraulic Cylinders Based onSupport Vector Machine and Sequential Quadratic Programming Algorithm
- Vol. 54, Issue 1, Pages: 93-100+107(2020)
- 作者机构：
  
  上海交通大学机械与动力工程学院,上海,200240
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202001012
  CLC： TH132;TP273
- Online First：10 January 2020，
  
  Published：2020
- 稿件说明：
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A Model Predictive Control of Asymmetric Valve Control Hydraulic Cylinders Based onSupport Vector Machine and Sequential Quadratic Programming Algorithm[J]. 2020, 54(1): 93-100+107.
DOI：

A Model Predictive Control of Asymmetric Valve Control Hydraulic Cylinders Based onSupport Vector Machine and Sequential Quadratic Programming Algorithm[J]. 2020, 54(1): 93-100+107. DOI： 10.7652/xjtuxb202001012.

摘要

针对非对称阀控液压缸位置控制中出现超调与由阀芯换向引起的压力冲击问题

设计了基于支持向量机与序列二次规划算法的非线性模型预测控制器。采用支持向量机拟合控制信号与活塞速度的关系得到系统的近似模型

使用序列二次规划算法求解获取控制器输出; 通过增加输出约束以及满足输入约束实现每次控制过程中阀芯不换向、活塞快速到达目标位置并且无超调。数值仿真结果表明:在相对位置误差信号大于8%时

控制器输出的控制信号始终大于最大控制信号的90%

有效缩短了系统的响应时间; 在保证活塞位置无超调、阀芯不换向的条件下

实现了精确位置控制

稳态误差小于0.02%。所提算法实现了多约束条件下非对称阀控液压缸系统的无超调快速控制

具有一定的理论和工程价值。

Abstract

A nonlinear model predictive controller based on a support vector machine and a sequential quadratic programming algorithm is designed to solve problems of overpressure in the position control of asymmetric valve-controlled hydraulic cylinders and pressure shock caused by spool reversal. The support vector machine is used to fit the relationship between the control signal and the piston speed and to obtain an approximate model of the system

and the sequential quadratic programming algorithm is employed to obtain outputs of the controller. The valve spool is not reversed and the piston displacement quickly reaches the target position without overshoot by adding output constraints and constraints satisfying input. Numerical simulation results show that when the signal of relative position errors is greater than 8%

the control signal output by the controller is greater than 90% of the maximum control signal

which effectively shortens the response time of the system. At the same time

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references

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