阀控非对称缸系统特性分析与位置控制研究  

Characteristic Analysis and Position Control of Valve Controlled Asymmetric Cylinder System

作　　者：孙家庆 张培珍 曹秀芳 翟丽娟 韩宁 SUN Jiaqing;ZHANG Peizhen;CAO Xiufang;ZHAI Lijuan;HAN Ning(Nanjing Chenguang Group Co.,Ltd.,Nanjing Jiangsu 210006,China)

机构地区：[1]南京晨光集团有限责任公司,江苏南京210006

出　　处：《机床与液压》2022年第12期29-34,共6页Machine Tool & Hydraulics

基　　金：国家重点研发计划(2017YFB1302103)。

摘　　要：以阀控非对称缸系统为研究对象,为得到系统的准确模型以及提高系统的位置控制精度,对系统进行辨识。针对液压缸的非线性和非对称性,提出基于位置基准和位置闭环双PID相结合的位置控制方法。建立阀控缸系统数学模型;依托力士乐液压实验平台和NI测控系统,分别从时域和频域两个角度对阀控缸系统进行辨识,得到系统准确的数学模型。基于该数学模型,分析系统特性。对所设计的阀控非对称缸位置控制策略进行实验验证。结果表明:在保证系统稳定裕量的前提下,该系统可实现较高精度的位置控制。Taking the valve controlled asymmetric cylinder system as the research object,in order to obtain the accurate model of the system and improve the position control accuracy,the system was identified.Aiming at the nonlinearity and asymmetry of hydraulic cylinder,a position control method based on position reference and position closed-loop dual PID was proposed.The mathematical model of the valve controlled cylinder system was established;based on Rexroth hydraulic experimental platform and NI measurement and control system,the valve controlled cylinder system was identified in time domain and frequency domain respectively,and the accurate mathematical model of the system was obtained.Based on the mathematical model,the system characteristics were analyzed.The designed position control strategy of valve controlled asymmetric cylinder was verified by experiments.The results show that the system can achieve more accurate position control under the stability margin.

关 键 词：阀控缸系统 模型辨识 非对称 位置控制 

分 类 号：TH137[机械工程—机械制造及自动化]