基于级联控制器的大直径薄壁管旋压机液压系统  

Hydraulic System of Large Diameter Thin-wall Pipe Spinning Machine Based on Cascade Controller

作　　者：王蕊 宁圆盛 李晓燕 龙涛 李辉 赵春江[1,4] WANG Rui;NING Yuan-sheng;LI Xiao-yan;LONG Tao;LI Hui;ZHAO Chun-jiang(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan,Shanxi 030024;Armed Police Beijing General Staff Communication Brigade,Beijing 100027;Academy of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan,Hebei 056038;Collaborative Innovation Center of Taiyuan Heavy Machinery Equipment,Taiyuan University of Science and Technology,Taiyuan,Shanxi 030024)

机构地区：[1]太原科技大学机械工程学院,山西太原030024 [2]武警北京市总队参谋部通信大队,北京100027 [3]河北工程大学机械与装备工程学院,河北邯郸056038 [4]太原科技大学太原重型装备协同创新中心,山西太原030024

出　　处：《液压与气动》2020年第11期53-58,共6页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2018YFB1308701)。

摘　　要：针对旋压机液压系统的控制问题,设计一种结合扰动观测的级联控制器,对大直径薄壁管旋压机的旋轮进行复合控制。为了克服系统参数不确定和各种干扰因素对旋轮压下量的影响,提出通过扰动观测对系统中不确定的参数进行估计和补偿,然后利用滑膜控制理论设计级联控制器,使整个控制系统构成位置闭环为控制外环、压力闭环为控制内环的结构。仿真结果与传统的PID控制对比得出:该控制器可以有效减小负载扰动和不确定参数对系统的影响,提高系统的响应速度,减小液压缸位移的跟踪误差,改善旋轮的位置控制精度。Aiming at the control problem of the hydraulic system of the spinning machine,a cascade controller combined with disturbance observation is designed to control the spinning wheel of the large-diameter thin-walled tube spinning machine.In order to overcome the influence of system parameter uncertainty and various disturbance factors on the screw down,this paper proposes to estimate and compensate the uncertain parameters in the system through disturbance observation,and then use the sliding film control theory to design the cascade controller,so that the whole control system constitutes the position closed loop as the control outer loop and the pressure closed loop as the control inner loop.Compared with the traditional PID control,the simulation results show that the controller can effectively reduce the impact of load disturbance and uncertain parameters on the system,increase the response speed of the system,reduce the tracking error of the hydraulic cylinder displacement,and improve the position control accuracy of the rotor.

关 键 词：大直径薄壁管旋压机 级联控制器 复合控制 扰动观测 

分 类 号：TH137[机械工程—机械制造及自动化]