单向定量泵电液执行器的分段PID控制  

Piecewise PID control of unidirectional quantitative pump electro-hydraulic actuator

作　　者：高伟 王兆强 朱利静 王金铂 李培兴 GAO Wei;WANG Zhaoqiang;ZHU Lijing;WANG Jinbo;LI Peixing(School of Mechanical and Automotive Engineering,Shanghai University Of Engineering Science,Songjiang 201620,China;Qingdao LKC Hydraulic Machinery Co.,Ltd.Qingdao 266000,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海松江201620 [2]青岛力克川液压机械有限公司,山东青岛266000

出　　处：《河南科技学院学报（自然科学版）》2023年第6期70-80,共11页Journal of Henan Institute of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金(51876113)。

摘　　要：针对传统PID控制算法出现的问题,利用AMESim与SIMULINK软件搭建的单向定量泵电液执行器的联合仿真模型提出了分段PID控制算法.利用该算法在静负载力下将阶跃位移信号、正弦位移信号、变频变幅值位移信号输入系统;在阶跃位移信号的基础上给油缸添加阶跃负载力以及正弦负载力,然后分别对比传统PID控制算法以及分段PID控制算法的仿真结果.结果发现:在油缸输入静负载力时,给系统输入阶跃位移信号,分段PID控制算法的响应时间缩短了0.2 s;给系统输入正弦位移信号,分段PID控制算法在三个最大误差点处的控制精度分别提高了11.5%、69.2%、7.7%;给系统输入变频变幅值位移信号,分段PID控制算法在三个最大误差点处的控制精度分别提高了73.2%、52.4%、56.3%;在给系统输入阶跃位移信号的基础上,给油缸添加阶跃负载力,分段PID控制算法在油缸位移发生偏差后恢复的时间提高了11.1%;给油缸添加正弦负载力,在稳定后的最大误差点处的分段PID控制算法下控制精度提高了16.7%.因此,可以看出分段PID控制算法的动态跟踪性能更佳、控制精度更高、鲁棒性更好.The co-simulation model of the electro-hydraulic actuator of the unidirectional quantitative pump is built by AMESim and SIMULINK software.Aiming at the problems of the traditional PID control algorithm in this system,the piecewise PID control algorithm is proposed.Then,step displacement signal,sinusoidal displacement signal and variable frequency amplitude displacement signal are input to the system under static load.On the basis of step displacement signal,step load and sinusoidal load are added to the cylinder,and the simulation results of traditional PID control algorithm and piecewise PID control algorithm are compared respectively.The results show that the response time of the segmented PID control algorithm is shortened by 0.2 s when the static load is input to the cylinder and the step displacement signal is input to the system.By inputting sinusoidal displacement signals into the system,the control accuracy of the piecewise PID control algorithm is improved by 11.5%,69.2%and 7.7%respectively at the three maximum error points.Input variable frequency variable amplitude displacement signal to the system;At the three maximum error points,the control accuracy of the piecewise PID control algorithm is improved by 73.2%,52.4%and 56.3%respectively.On the basis of input step displacement signal to the system,step load is added to the cylinder,and the recovery time of cylinder displacement deviation is increased by 11.1%.When sinusoidal load is added to the cylinder,the control accuracy of the piecewise PID control algorithm is increased by 16.7%at the maximum error point after stabilization.Therefore,it can be seen that the piecewise PID control algorithm has better dynamic tracking performance,higher control accuracy and better robustness.

关 键 词：电液执行器 分段PID控制 联合仿真 单向定量泵 

分 类 号：TH137.1[机械工程—机械制造及自动化]