基于功率谱估计的双液压马达同步系统实验研究  

Experimental Investigation on Dual Hydraulic Motors Driven System Based on Power Spectrum Estimate

作　　者：郭治富 张子飞[2] 王虹[3,4] 

机构地区：[1]中国煤炭科工集团太原研究院有限公司,山西太原030006 [2]神华神东煤炭集团有限责任公司,陕西榆林719315 [3]中国矿业大学,北京100083 [4]中国煤炭科工集团有限公司,北京100013

出　　处：《液压与气动》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)

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.

关 键 词：功率谱估计 双液压马达驱动系统 定量反馈设计 

分 类 号：TH137[机械工程—机械制造及自动化] TP273.3[自动化与计算机技术—检测技术与自动化装置]