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基于活塞位置的过驱动液压缸控制研究 认领

Research on control of over actuated hydraulic cylinder based on piston position
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摘要 为了提高差动液压缸泵控的位置精度和压力精度,对差动缸的过驱动模型进行了研究,并对控制方法进行仿真验证。创建了差动液压缸驱动控制模型简图,推导出活塞运动控制和腔室压力控制的输入-输出变换方程式。在对驱动器进行建模的基础上,基于相对增益阵列给出了系统的耦合分析。建立了辅助虚拟压力状态的输出变换,并合成了线性参数化控制方法。采用Matlab对该驱动控制方法进行仿真验证,并且与非过驱动方法进行比较和分析。结果表明:采用过驱动液压缸控制方法,液压缸活塞运动位置与理论值偏差较小,腔室压力与理论值偏差较小;而采用非过驱动液压缸控制方法,液压缸活塞运动位置与理论值偏差较大,腔室压力与理论值偏差较大。采用过驱动液压缸控制方法,控制系统相对稳定,能较好保证液压缸活塞运动位置精度和腔室压力精度。 In order to improve the position accuracy and pressure accuracy of differential cylinder pump control,the over-drive model of differential cylinder is studied,and the control method is verified by simulation.The model sketch of differential cylinder drive control is created,and the input-output transformation equations of piston motion control and chamber pressure control are derived.Based on the model of the driver,the coupling analysis of the system is given based on the relative gain array.The output transformation of auxiliary virtual pressure state is established,and the linear parametric control method is synthesized.The driving control method is simulated and validated by using Matlab,and compared with the non-over-driving method.The results show that the deviation between piston position and theoretical value is small and the deviation between chamber pressure and theoretical value is small by using the control method of over-drive hydraulic cylinder,while the deviation between piston position and theoretical value is large by using the control method of non-over-drive hydraulic cylinder,and the deviation between chamber pressure and theoretical value is large.The control system is relatively stable by using the control method of overdrive hydraulic cylinder,which can ensure the accuracy of piston movement position and chamber pressure.
作者 祖锡华 陈振乾 ZU Xihua;CHEN Zhenqian(Institute of Intelligent Engineering Technology,Jiangsu Vocational Institute of Commerce,Nanjing 211168,Jiangsu,China;School of Energy and Environment,Southeast University,Nanjing 210096,Jiangsu,China)
出处 《中国工程机械学报》 北大核心 2020年第6期536-541,共6页 Chinese Journal of Construction Machinery
基金 江苏省自然科学基金资助项目(BK20160687)。
关键词 过驱动液压缸 输入-输出变换 泵控系统 位置控制 压力控制 overdrive hydraulic cylinder input-output conversion pump control system position control pressure control
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