基于改进PID控制器的EHA液压系统建模和控制研究  

The Modelling and Control of EHA System Based on Modified PID Controller

作　　者：罗保军[1] 矫德强[1] 

机构地区：[1]长春工业大学电气与电子工程学院,长春130012

出　　处：《科技通报》2016年第5期157-161,共5页Bulletin of Science and Technology

摘　　要：电动静液执行器(electro-hydrostatic actuator,EHA)系统是一种高能量密度的执行器单元,集成伺服电机、液压泵、蓄液池和油箱于一体。为使EHA在快速响应状态有更高的执行效率,需要对液压系统各单元的参数作用进行研究。本研究提出了一种新的EHA液压系统设计方法。通过结合双向液压齿轮泵的死区效应,以及各部件的实验结果和理论公式对EHA液压系统进行数学建模。在此基础上结合ISIDF技术对PID控制器进行修正。结果表明改进后的PID可以实现更加精确的控制效果,将EHA系统的位置控制性能提高两倍。Electro-hydrostatic actuator （EHA）, as an actuator module of high power density, is integratedwith electro- servo motor, hydraulic pump, accumulator and oil tank into an entire component. It isnecessary to realize the influence of parameters on the individual components to enhance the actionefficiency of EHA system. In this study, a new design strategy is proposed for EHA system. Therefore,the modeling of EHA system is established by taking into the dead zone effect as well as theexperimental results and theoretic formula. What is more, a modified PID controller is designed based onthe ISIDF technique. The results demonstrates that the modified can realize a more precise controlling,and the position controlling of EHA system is enhanced twice.

关 键 词：电动静液执行器 死区效应 控制精度 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]