基于鲁棒H∞控制的电液伺服系统执行器位置跟踪控制研究  

Research on actuator position tracking control of electro-hydraulic servo system based on robust H∞control

作　　者：杨可可[1] 茹亚东[1] 王明 YANG Keke;RU Yadong;WANG Ming(Numerical Control Technology Department,Xinxiang Vocational and Technical College,Xinxiang 453000,Henan,China;School of Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu 241000,Anhui,China)

机构地区：[1]新乡职业技术学院数控技术系,河南新乡453000 [2]安徽工程大学机械与汽车工程学院,安徽芜湖241000

出　　处：《中国工程机械学报》2020年第6期487-491,497,共6页Chinese Journal of Construction Machinery

基　　金：安徽省自然科学基金资助项目(1708085MF152)。

摘　　要：为了提高电液伺服系统执行器位置跟踪精度,从而降低整个液压系统的能量消耗,采用鲁棒H∞控制方法,对位置跟踪和能量消耗进行仿真验证。给出了电液伺服阀装置简图,对阀芯的运动和流体在阀门孔内的流动进行建模,推导出控制阀、液压执行器和比例溢流阀方程式。针对传统不可控供应压力的电液伺服系统进行改进,提出了一种可控供应压力的电液伺服系统结构。为了节约能量消耗,设计出6种工作模式,以提高电液伺服系统的效率。针对每种工作模式设计鲁棒H∞控制器,给出了控制器的切换规则。采用Matlab软件对电液伺服系统执行器位置跟踪和能量消耗进行仿真,与改进前进行对比。结果显示:采用改进前电液伺服系统,执行器运动位置跟踪误差较大,能量消耗较多;采用改进后电液伺服系统,执行器运动位置跟踪误差较小,能量消耗较少。采用可控供应压力的电液伺服系统,执行器不仅可以降低运动位置跟踪误差,而且通过切换工作模式可降低能量消耗。In order to improve the position tracking accuracy of the electro-hydraulic servo system actuator and reduce the energy consumption of the whole hydraulic system,a robust H∞control method is adopted,and the position tracking and energy consumption are simulated and verified.The schematic diagram of the electro-hydraulic servo valve device is given.The movement of the spool and the flow of fluid in the valve hole are modeled.The control valve,hydraulic actuator and proportional relief valve equations are derived.An electro-hydraulic servo system structure with controllable supply pressure is proposed to improve the traditional electro-hydraulic servo system with uncontrollable supply pressure.In order to save energy consumption,six working modes are designed to improve the efficiency of electro-hydraulic servo system.Robust H∞controller is designed for each mode of operation,and the switching rules of the controller are given.The position tracking and energy consumption of the actuator of the electro-hydraulic servo system are simulated by using Matlab software,and compared with those before improvement.The results show that the electro-hydraulic servo system before the improvement has larger tracking error and more energy consumption,while the electro-hydraulic servo system after the improvement has smaller tracking error and less energy consumption.Using electro-hydraulic servo system with controllable supply pressure,the actuator can not only reduce the tracking error of motion position,but also reduce energy consumption by switching working mode.

关 键 词：电液伺服系统 鲁棒H∞控制器 位置 能量 仿真 

分 类 号：TH137[机械工程—机械制造及自动化]