高速开关阀控液压缸的位置控制半实物仿真研究  

Hardware-in-the-Loop Simulation for Position Control of Hydraulic Cylinder Using High Speed On/Off Valve

作　　者：高强[1] 朱玉川[1] 罗樟 王睿 宋昀泽 陈晓明 GAO Qiang;ZHU Yu-chuan;LUO Zhang;WANG Rui;SONG Yun-ze;CHEN Xiao-ming(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,Jiangsu 210016,China)

机构地区：[1]南京航空航天大学机电学院

出　　处：《北京理工大学学报》2019年第10期1091-1096,共6页Transactions of Beijing Institute of Technology

基　　金：南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj20170528)

摘　　要：为研究基于高速开关阀的液压缸位置控制问题,设计了基于高速开关阀和换向阀组合控制液压缸的回路,并采用PWM驱动高速开关阀.建立了控制系统的Simulink离线仿真模型,采用基于卡尔曼滤波的PID控制算法完成液压缸的位置跟踪仿真.最后借助Matlab/xPC Target搭建了高速开关阀控液压位置系统的半实物仿真测试平台,仿真与实验结果表明所设计系统结构的正确性,以及采用卡尔曼滤波的PID控制算法可有效提高液压缸的位置控制精度,借助半实物仿真技术可以提高高速开关阀控位置系统的设计效率.In order to study the position control of hydraulic cylinder using high speed on/off valve(HSV),a hydraulic loop was designed based on HSV and directional valve for the hydraulic cylinder control,and pulse width modulation(PWM)was used to drive the HSV.An off-line simulation model of the control system was established with simulink software,and the simulation of position tracking was carried out by PID with Kalman filter.A test bench of system was established for hardware-in-the-loop simulation based on Matlab/xPC target.The simulation and experimental results show that the proposed system structure is correct and the proposed control algorithm can achieve high precision of hydraulic position,and the efficiency of control system’s design can be improved by hardware-in-the-loop simulation.

关 键 词：高速开关阀 半实物仿真 卡尔曼滤波 PID 

分 类 号：TH137[机械工程—机械制造及自动化]