CN-121978927-A - Sliding mode construction closed-loop control method and system for multi-sensor data fusion

CN121978927ACN 121978927 ACN121978927 ACN 121978927ACN-121978927-A

Abstract

The invention relates to the control field, in particular to a sliding mode construction closed-loop control method and system for multi-sensor data fusion, which are used for collecting pressure and displacement data of all lifting fulcrums of a sliding mode device in real time; the method comprises the steps of calculating a pressure compensation weight coefficient through an exponential decay function according to the absolute value of a periodic sliding mode variable, multiplying a pressure average value and a reference pressure difference after weighting, obtaining an equivalent displacement compensation quantity, adding the pressure average value and the reference pressure difference to obtain a comprehensive deviation, constructing a sliding mode surface function, calculating a sliding mode variable, calculating a time change rate two norms of pressure data, determining the thickness of an actual boundary layer, controlling the sliding mode control law to comprise an equivalent and switching control part, controlling the switching to be a fixed gain symbol function when the absolute value of the sliding mode variable is larger than the thickness of the boundary layer, otherwise, controlling the sliding mode control law to be a proportional term, generating a global lifting speed reference instruction, and regulating a speed differential regulating quantity through proportional-integral according to the difference between the real-time pressure of each fulcrum and the pressure average value, and superposing the sliding mode variable with the global reference instruction to obtain a supporting point lifting speed control instruction.

Inventors

Cao Suidong
YAN FENG
PAN JIANJIAN
YE JIABAO
CAO YONGJIE
LIU HUIFEN
LI ZHEN
LI ZHANMING

Assignees

广州市第二建筑工程有限公司
广东智云工程科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260115

Claims (10)

1. A sliding mode construction closed-loop control method for multi-sensor data fusion is characterized by comprising the following steps: Collecting pressure data and displacement data of all jacking fulcrums of the sliding mode device in real time; Determining displacement deviation based on the difference value between the average value of the displacement data of all jacking fulcra and the preset target displacement, determining a pressure compensation weight coefficient through an exponential decay function based on the absolute value of a sliding mode variable of the previous control period, weighting the difference value between the average value of the real-time pressure of all jacking fulcra and the reference pressure by using the pressure compensation weight coefficient, multiplying the weighted difference value by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation quantity, adding the displacement deviation and the equivalent displacement compensation quantity to obtain comprehensive deviation, constructing a sliding mode surface function based on the comprehensive deviation and the time change rate of the comprehensive deviation, and calculating to obtain the sliding mode variable; Calculating a second norm of the time change rate of all jacking fulcrum pressure data, and determining the actual boundary layer thickness based on the second norm and a preset boundary layer thickness base value; For each jacking fulcrum, calculating to obtain the speed differential regulating quantity of the fulcrum through proportional-integral regulation based on the pressure difference between the real-time pressure of the fulcrum and the average value of the real-time pressures of all jacking fulcra; and superposing the global jacking speed reference instruction and the speed differential adjustment quantity of each supporting point to obtain a jacking speed control instruction of each jacking supporting point.
2. The method of claim 1, wherein determining the pressure compensation weight coefficient by an exponential decay function based on the absolute value of the sliding mode variable of the previous control period comprises: The pressure compensation weight coefficient w (k) of the current control period k is calculated by Determining; Wherein, the As the sliding mode variable of the last control period, Is a preset positive attenuation coefficient.
3. The method of claim 1, wherein constructing a sliding mode surface function based on the integrated bias and time rate of change comprises: The sliding mode surface function is ; Wherein e is the integrated deviation, and the integrated deviation is calculated, And c is a preset positive switching parameter for the time change rate of the comprehensive deviation.
4. A method according to claim 3, wherein said determining the actual boundary layer thickness based on said two norms and a preset boundary layer thickness base value comprises: the actual boundary layer thickness By passing through Determining; Wherein, the Is a preset basic value of the thickness of the boundary layer, For the two norms of the time change rate of all the jacking fulcrum pressure data, P is the vector formed by all the jacking fulcrum pressure data, The coefficient is adjusted for a preset positive value.
5. The method of claim 1, wherein calculating a sliding mode control law consisting of an equivalent control portion and a switching control portion comprises: when the absolute value of the sliding mode variable is larger than the actual boundary layer thickness, the switching control part is a sign function based on fixed gain; And when the absolute value of the sliding mode variable is smaller than or equal to the actual boundary layer thickness, the switching control part is a proportional term.
6. The method of claim 5, wherein the switching control portion is a fixed gain based sign function when the absolute value of the sliding mode variable is greater than the actual boundary layer thickness, comprising: When the absolute value of the sliding mode variable is larger than the actual boundary layer thickness, the switching control part is ; Wherein s is the sliding mode variable, k is a preset fixed positive gain, As a sign function.
7. The method of claim 5, wherein the switching control portion is a proportional term when the absolute value of the sliding mode variable is less than or equal to the actual boundary layer thickness, comprising: when the absolute value of the sliding mode variable is smaller than or equal to the actual boundary layer thickness, the switching control part is ; Wherein s is the sliding mode variable, For the actual boundary layer thickness to be described, Is the gain of the proportional term, an By passing through Determining, wherein And Is a constant of a preset positive value, The average value of all jacking pivot real-time pressures is obtained.
8. The method of claim 1, wherein said calculating a differential speed adjustment of said fulcrum by proportional-integral adjustment comprises: differential speed adjustment of the ith jack-up fulcrum By passing through Determining; Wherein, the Is the real-time pressure of the ith jacking fulcrum, The average value of all the jacking pivot real-time pressures is, And Respectively, a preset positive proportional gain and an integral gain.
9. The sliding mode construction closed-loop control system with the multi-sensor data fusion is characterized by comprising the following modules: The acquisition module is used for acquiring pressure data and displacement data of each jacking pivot of the sliding mode device in real time; The construction module is used for determining displacement deviation based on the difference value between the average value of the displacement data of each jacking fulcrum and the preset target displacement; determining a pressure compensation weight coefficient through an exponential decay function based on the absolute value of a sliding mode variable in the previous control period, weighting the difference value between the average value of all jacking fulcrum real-time pressures and the reference pressure by utilizing the pressure compensation weight coefficient, multiplying the weighted difference value by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation quantity, adding the displacement deviation and the equivalent displacement compensation quantity to obtain a comprehensive deviation, constructing a sliding mode surface function based on the comprehensive deviation and the time change rate of the comprehensive deviation, and calculating to obtain the sliding mode variable; The generation module is used for calculating the second norms of the time change rates of all jacking fulcrum pressure data, determining the actual boundary layer thickness based on the second norms and a preset boundary layer thickness base value, calculating a sliding mode control law consisting of an equivalent control part and a switching control part, and generating a global jacking speed reference instruction according to the sliding mode control law; The superposition module is used for obtaining the speed differential adjustment quantity of the supporting points through proportional-integral adjustment calculation on the basis of the pressure difference between the real-time pressure of the supporting points and the average value of the real-time pressures of all the supporting points, and superposing the global lifting speed reference instruction and the speed differential adjustment quantity of each supporting point to obtain the lifting speed control instruction of each supporting point.
10. The system of claim 9, wherein determining the pressure compensation weight coefficient by an exponential decay function based on the absolute value of the sliding mode variable of the previous control period comprises: The pressure compensation weight coefficient w (k) of the current control period k is calculated by Determining; Wherein, the As the sliding mode variable of the last control period, Is a preset positive attenuation coefficient.

Description

Sliding mode construction closed-loop control method and system for multi-sensor data fusion Technical Field The application belongs to the field of control, and particularly relates to a sliding mode construction closed-loop control method and system for multi-sensor data fusion. Background The sliding mode construction control mode is based on manual monitoring and manual operation of the hydraulic valve group, and is low in control precision and high in labor intensity. The control system based on the laser collimator, the inclination angle sensor and the displacement sensor adopts a PID controller, and can realize closed-loop control by carrying out feedback adjustment on the displacement deviation of the platform. However, the PID controller is prone to response delay, overshoot or oscillation when faced with strong disturbance, and it is difficult to meet the construction requirement of strong disturbance rejection. The sliding mode control has the 'buffeting' problem, namely, the control output can generate high-frequency switching near the sliding mode surface, and the pressure pulsation and mechanical vibration of the hydraulic jacking system can be caused. To attenuate buffeting, boundary layer methods are used to replace the discontinuous sign function with a continuous function near the sliding mode surface. However, the thickness of the boundary layer and the gain parameters in the control law cannot adapt to the real-time change of the load and the resistance in the sliding mode construction process, and balance between the suppression of buffeting and the guarantee of tracking precision is difficult to achieve. In addition, the existing control method ignores hydraulic pressure information capable of reflecting the system load state based on displacement or attitude information as feedback, so that response to load disturbance is not timely and active. Meanwhile, how to implement load balancing by carrying out differential adjustment according to the actual stress conditions of all fulcrums for the multi-fulcrum collaborative jacking system is a difficulty in the prior art. Disclosure of Invention The invention provides a sliding mode construction closed-loop control method for multi-sensor data fusion, which is used for solving the problems that the prior art is difficult to balance between the restraint of buffeting and the guarantee of tracking precision, and the response to load disturbance is not timely and active, and comprises the following steps: Collecting pressure data and displacement data of all jacking fulcrums of the sliding mode device in real time; Determining displacement deviation based on the difference value between the average value of the displacement data of all jacking fulcra and the preset target displacement, determining a pressure compensation weight coefficient based on the absolute value of a sliding mode variable of the previous control period through an exponential decay function, weighting the difference value between the average value of the real-time pressure of all jacking fulcra and the reference pressure by using the pressure compensation weight coefficient, multiplying the weighted difference value by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation quantity, adding the displacement deviation and the equivalent displacement compensation quantity to obtain comprehensive deviation, constructing a sliding mode surface function based on the comprehensive deviation and the time change rate, and calculating to obtain the sliding mode variable; Calculating a sliding mode control law, wherein the sliding mode control law consists of an equivalent control part and a switching control part, when the absolute value of a sliding mode variable is larger than the actual boundary layer thickness, the switching control part is a sign function based on fixed gain, and when the absolute value of the sliding mode variable is smaller than or equal to the actual boundary layer thickness, the switching control part is a proportion item; For each jacking fulcrum, calculating to obtain the speed differential regulating quantity of the fulcrum through proportional-integral regulation based on the pressure difference between the real-time pressure of the fulcrum and the average value of the real-time pressures of all jacking fulcra; and superposing the global jacking speed reference instruction and the speed differential adjustment quantity of each supporting point to obtain a jacking speed control instruction of each jacking supporting point. In addition, the invention also relates to a sliding mode construction closed-loop control system for multi-sensor data fusion, which comprises the following modules: The acquisition module is used for acquiring pressure data and displacement data of each jacking pivot of the sliding mode device in real time; The construction module is used for determining displacement deviation based on the di