三轴加载液压伺服系统对岩石压力控制仿真  

Simulation of Rock Pressure Control with Three-Axis Loading hydraulic Servo System

作　　者：王振高 尹明富[1] 孙会来[1] 张彤 WANG Zhen-gao;YIN Ming-fu;SUN Hui-lai;ZHANG Tong(College of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387

出　　处：《计算机仿真》2018年第12期286-290,358,共6页Computer Simulation

基　　金：天津市科委项目(14JCTPJC00536);天津市高等学校科技发展基金(20130402)

摘　　要：三轴加载液压伺服系统实际工作中是非线性、时变形、参数不确定性和交叉负载干扰等因素综合在一起的不确定性系统,对岩石压力的控制会出现伺服阀死区、液压系统油温变化以及机械系统固有的间隙等问题都会造成控制系统的稳态误差。常规控制方法较难实现系统的控制精度和降低控制误差,而为了降低系统的控制误差、提高系统精度,提出了一种基于迭代学习控制算法的伺服力控系统。在AMESim系统中建立液压伺服系统模型,以S函数的形式导入到Simulink控制系统模型中,建立AMESim和Simulink联合仿真模型,并提出迭代学习控制和全数字控制(FDC)系统控制联合仿真的方法,得到斜波信号和正弦信号的阶跃响应曲线。联合仿真结果曲线对比表明,液压力控系统中的迭代学习控制在控制误差方面比全数字(FDC)控制效果更好,并满足了控制系统中的精度、提升了系统的响应速度。Since three-axis loading hydraulic servo system is an uncertain system with nonlinear,time variant parameter uncertainty and cross load interference,the dead zone of the servo valve will appear in the rock pressure control,the oil temperature of the hydraulic system will change,'and the inherent gap exists in the mechanical sys- tem,all of which will cause the steady error of the control system.It is difficult for the conventional control method to realize the system control accuracy and reduce the control error.In order to reduce the control error and improve the system precision,a servo force control system based on iterative learning control algorithm is proposed.A hydraulic servo system model was established in AMESim system,and then it was introduced into Simulink control system model in the form of S function to establish a cosimulation model of AMESim and Simulink.The method of co-simulation of iterative learning control and full digital control (FDC)system control was proposed,and the step response curves for ramp signal and sinusoidal signal were obtained.The co-simulation results show that the iterative learning control in hydraulic pressure control system is better than that of FDC control in control error,which satisfies the precision requirement in the control system and improves the response speed of the system.

关 键 词：液压伺服系统 迭代控制 全数字控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]