摘要
双液压缸电液比例位置呈现静态与动态复杂变化,总扰动大,导致同步控制精度低。提出了一种针对双液压缸的电液比例位置同步控制方法。首先,构建双液压缸电液比例控制系统的数学模型;其次,根据系统数学模型推导动力学方程,在此基础上分析双液压缸电液比例控制系统的静态特性和动态特性;提出“同等+主从”控制策略,建立线性自抗扰同步控制器,估计并补偿双液压系统在运行过程中产生的总扰动,同时建立死区补偿器,以减小位置同步控制过程中的稳态误差,实现双液压缸电液比例位置的同步控制。实验结果表明,所提方法在x方向和y方向中,跟踪误差均控制在±1 mm以内,且超调量较小;最低可在0.51 s内达到阶跃期望位置,表现出了良好的效率和精度,具有一定应用价值。
The electro-hydraulic proportional position of dual hydraulic cylinders presents complex static and dynamic changes,and the total disturbance is large,resulting in low synchronization control accuracy.An electro-hydraulic proportional position synchronization control method for dual hydraulic cylinders is proposed.Firstly,the mathematical model of the electro-hydraulic proportional control system with double hydraulic cylinders is constructed;Secondly,according to the mathematical model of the system,the dynamic equation is derived,and on this basis,the static and dynamic characteristics of the electro-hydraulic proportional control system with dual hydraulic cylinders are analyzed;A“equal+master-slave”control strategy is proposed,and a linear auto-disturbance-rejection synchronous controller is established to estimate and compensate the total disturbance generated by the dual hydraulic system during operation.At the same time,a dead zone compensator is established to reduce the steady-state error in the process of position synchronization control and realize the synchronization control of the electro-hydraulic proportional position of the dual hydraulic cylinders.The experimental results show that the tracking error of the proposed method is controlled within±1mm in the x and y directions,and the overshoot is small;The lowest step expected position can be reached within 0.51s,which shows good efficiency and accuracy,and has certain application value.
作者
刘红
杨奇
陈莉
LIU Hong;YANG Qi;CHEN Li(Energy and Control Engineering College Changji University,Changji 831100,China)
出处
《液压气动与密封》
2023年第7期80-84,共5页
Hydraulics Pneumatics & Seals
基金
新疆维吾尔自治区高校基本科研项目(XJEDU2022 P109)。
关键词
双液压缸
动力学方程
死区补偿器
同步控制器
位置同步控制
dual hydraulic cylinders
dynamic equation
deadband compensator
synchronization controller
position synchronization control
