泵阀复合驱动执行器速度/位置控制方法  

Position and Speed Control Method of the Pump-valve Compound Drive Actuator System

作　　者：吴斌 柏艳红[1] 权龙[2] WU Bin;BAI Yanhong;QUAN Long(School of Electronics and Information Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China;Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education,Taiyuan University of Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024 [2]太原理工大学新型传感器及智能教育部实验室,山西太原030024

出　　处：《机床与液压》2021年第7期37-41,共5页Machine Tool & Hydraulics

基　　金：山西省自然基金项目(201901D111247);国家自然科学基金面上项目(51875385)。

摘　　要：针对液压升船机、多自由度试验平台、长行程单出杆液压缸控制系统高性能和高效能的要求,结合阀控回路的高性能和泵控回路的高效能特点,采用阀控开式回路和泵控闭式回路并联驱动新回路。该回路兼顾效能和性能,但侧重于保持性能。为提高新回路运行过程中的平稳性及带负载的控制精度等性能,提出带有负载补偿量的速度/位置复合控制策略,确定负载补偿计算模型和速度前馈控制计算模型。仿真结果表明:采用该控制策略,可以实现速度和位置的同时控制,并且在不同负载下可以获得较好的控制性能。Aimed at the requirements of high performance and high efficiency of the hydraulic ship lift,the multi degree of freedom test platform and hydraulic cylinder control systems with long-stroke,combined with the high performance of the valve control circuit and the high efficiency of the pump control circuit,the valve control open circuit and pump control closed circuit were used to parallel driven the new circuit.The new circuit can acquire high performance and high efficiency,but focuses on maintaining performance.In order to improve the performance of the new circuit system in operation,such as the stability and the control precision with load,a speed and position composite control strategy with load compensation was proposed,and the load compensation calculation model and speed feedforward control calculation model were determined.The simulation results show that by using this control strategy,both speed and position can be controlled simultaneously,and better control performance can be obtained under different loads.

关 键 词：并联驱动回路 速度前馈控制 位置反馈控制 负载补偿 AMESIM仿真 

分 类 号：TH137.9[机械工程—机械制造及自动化]