摘要
电液步进缸的电液作动器能够有效减少液压系统的重量,降低管路噪声,优化流量脉动,控制溢流噪声,使得电液步进缸得到广泛的研究和应用。但是电液步进缸的跟随特性不能满足某些工程场合的需求。为了提高电液步进缸的跟随特性,根据评价跟随特性的稳态误差指标及稳态误差产生原因,推导出了基于电液步进缸稳态误差的时域模型,并提出参数调整结构。在此基础上对电液步进缸的可变参数Kf进行调整,利用AMESim软件仿真分析电液步进缸典型运动状态下合适的Kf数值,最后通过对电液步进缸进行空载和加载试验获得稳态误差的实验结果。结果表明,电液步进缸的稳态误差在要求的范围内,证明了电液步进缸稳态误差时域模型的正确性以及控制算法的有效性和稳定性。
The actuator based on the electro-hydraulic cylinder can effectively reduce the weight of the hydraulic system and pipeline noise, optimize the flow pulsation, and control the overflow noise. But its following performance must be improved to meet the demand in project. Aiming to improve the following performance of electro-hydraulic stepping cylinder, based on the evaluating indicator and root cause of its steady-state error, the adaptive control structure of modifying parameters is proposed to regulate the steady-error within the demanding range by adjusting the variable parameter Kf in the real time on the basis of the steady-state error time domain model. And the value of Kf is obtained by simulation of the typical motion condition of electro-hydraulic stepping cylinder in the software AMESim. Finally, the experimental result is obtained through the non-load and loading experiments of electrohydraulic stepping cylinder, which shows that the steady-state error is regulated within the demanding range and the validity of the steady-state error time domain model, and the effectiveness and stability of the parameter adaptive algorithm are verified.
出处
《液压与气动》
北大核心
2015年第1期123-127,共5页
Chinese Hydraulics & Pneumatics
关键词
电液步进缸
跟随特性
稳态误差
electro-hydraulic stepping cylinder, following performance, steady-state error
