摘要
采用交流伺服电机驱动定量液压泵闭环控制差动缸,是目前电液控制技术实现节能的新方法和研究热点。针对现有技术利用液控单向阀配流的不足,提出采用三配流窗口补偿差动缸面积差,减小液控单向阀能量交换,进一步提高系统能量利用率。试验中发现,由于泵的泄漏等不确定性因素造成系统动特性存在严重非线性、缸收回时噪声和振动大等问题,针对这些问题,采用速度、加速度前馈补偿和抗饱和积分分离PID复合控制算法进行改善,通过数字仿真确定了具体的控制器参数。试验结果表明,采用上述方法可提高位置伺服系统的动态性能和鲁棒稳定性,有效抑制了液压缸运动过程的噪声和振动,实现了液压缸上升和下降速度对称,上述方法取得了良好的控制效果。
To control differential cylinders with an AC servo motor driven constant pump is a new method and recently becomes the research focus for energy saving in electro-hydraulic control systems.Since the pilot check valve for flow distribution was incompetent,three flow distribution windows were used to compensate the different volumetric flow caused by differential cylinder area ratio.This method can reduce the flow exchange of the pilot check valve,and improve the system＇s energy efficiency.Due to the existed problems,such as serious non-linearity,bump leakage and other uncertain factors in the system,higher noise and stronger vibration were generated when the cylinder was retracted.To overcome these disadvantages,a compound control algorithm that combined velocity and acceleration feed-forward compensation with anti-saturation integral separation PID controller was adopted.The controller＇s parameters were determined by simulation.The experimental results demonstrate that the proposed method has effectively improved the system＇s dynamic properties and robust stability,reduced noise and vibration,and thus achieve the symmetry of moving speed in both directions.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2010年第24期107-112,共6页
Proceedings of the CSEE
基金
国家自然科学基金项目(50775156)
浙江大学流体传动及控制国家重点实验室开放基金资助(GZKF-2008006)~~
关键词
永磁同步电动机
三配流窗口
泵控差动缸
位置伺服系统
前馈补偿
permanent magnet synchronous motor （PMSM）
three flow distribution windows
pump controlled differential cylinder
position servo system
feed-forward compensation
