摘要
针对双液压马达同步驱动系统中由于两液压马达的制造误差、安装误差以及元件和密封圈磨损老化等因素引起的不同步问题,提出一种以功率谱估计为基础的同步控制器定量反馈设计方法。该方法首先对两马达工作范围内各工作点频率特性进行非参数辨识,形成定量反馈设计所需系统模板;然后再使用定量反馈设计单输入单输出方法和多输入多输出稳定性条件设计双液压马达同步控制器。同步实验结果表明用该方法设计出的控制器可以保证在整个工作范围内满足同步性能指标和鲁棒性要求。
A quantitative feedback design method of synchronization controller based on the power spectrum estimate is proposed to reduce the synchronization error of dual hydraulic motor driven system due to the manufacturing error,assembling error,abrasion and aging of parts and seals. Firstly,the system templates required by a quantitative feedback design are acquired through non-parametric identification of operation points over whole workspace of dual hydraulic motors. Then,the SISO controller design process and MIMO stability conditions of quantitative feedback design are utilized to synthesize the synchronization controller. Synchronization experiment results indicate that designed controllers could satisfy the synchronization error and robust performance requirements over whole workspace.
出处
《液压与气动》
北大核心
2015年第9期77-81,84,共6页
Chinese Hydraulics & Pneumatics
基金
天地科技青年创新基金(KJ-2014-SXMJ-04)
关键词
功率谱估计
双液压马达驱动系统
定量反馈设计
power spectrum estimate
dual hydraulic motors driven system
quantitative feedback design
