电液伺服系统位置跟踪平整度控制策略研究  

Research on Flatness Based Controller for Position Tracking Control of Electro-hydraulic Servo System

作　　者：王慧 侯冬冬[2,3] WANG Hui;HOU Dong-dong(Price Verification Center of Naval Equipment Department,Beijing 100071;Seventh thirteen Institute of China Shipbuilding Industry Corporation,Zhengzhou,Henan 450000;Key Laboratory of Underwater Intelligent Equipment in Henan Province,Zhengzhou,Henan 450000)

机构地区：[1]海军装备部装备审价中心,北京100071 [2]中国船舶重工集团公司第七一三研究所,河南郑州450000 [3]河南省水下智能装备重点实验室,河南郑州450000

出　　处：《液压与气动》2019年第7期107-113,共7页Chinese Hydraulics & Pneumatics

摘　　要：为提高电液伺服系统位置控制跟踪精度,提出一种基于平整度设计方法的控制策略,该设计方法不需要对系统状态变量求导,因而,传感器测量噪声及未建模特性不会被放大,进而可以提高电液伺服系统位置跟踪精度,并且控制方法的设计过程简易;为验证提出的控制器的有效性,搭建了电液伺服系统实验台,对提出的控制策略进行了实验研究,结果证实,与反步控制器及传统的PI控制器相比,提出的控制器能更有效地提高了电液伺服系统位置跟踪精度。In order to improve the tracking accuracy of the electro-hydraulic servo system positioning control,a flatness based controller is proposed. The proposed controller will not need derivatives of system states. As we all know,derivatives of system states will definitely amplify sensor measurement noises and unmodeled characteristics,which will further decrease the tracking accuracy of controllers. And what s more,the proposed controller will simplify the design process. Firstly,the performance of the proposed method is validated through simulations. The simulation results show that the proposed controller exhibits a better performance than a backstepping controller. Secondly,a hydraulic test rig is established. And some experiments are conducted to validate the performance of the controller. The experimental results demonstrate that the proposed controller exhibits a better performance than a backstepping controller and a conventional PI controller.

关 键 词：电液伺服系统 位置闭环 平整度控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP271.31[自动化与计算机技术—检测技术与自动化装置]