驱动机械多缸液压系统协同控制方法设计  

Design of Cooperative Control Method for Multi-cylinder Hydraulic System of Driving Machinery

作　　者：王和欣 于鑫丽 魏枫 周传青 徐鲁波 WANG He-xin;YU Xin-li;WEI Feng;ZHOU Chuan-qing;XU Lu-bo(Tai Shan Institute of Science and Technology,Tai an 271000,China;Tai an Taishan Innovation Valley Technology Operation Management Co.,Ltd.,Tai an 271000,China;Tai an Jiacheng Electromechanical Technology Ltd.,Tai an 271000,China)

机构地区：[1]泰山科学技术研究院,山东泰安271000 [2]泰安市泰山创新谷科技运营管理有限公司,山东泰安271000 [3]泰安佳成机电科技有限公司,山东泰安271000

出　　处：《液压气动与密封》2024年第2期62-66,共5页Hydraulics Pneumatics & Seals

基　　金：山东省科技型中小企业创新能力提升工程项目(2022TSGC1278)。

摘　　要：针对驱动机械的多缸液压系统,为实现各个液压缸之间的协同运动控制,提出一种基于前馈控制器的自动协同控制方法。首先分析多缸液压系统,确定每个液压缸的动态控制方程,然后将协同控制分为前馈控制器和自适应PID控制器两部分。其中,前馈控制器通过分析系统的反馈信息,预测可能存在的液压缸运动误差,并设计前期处理措施;自适应PID控制器结合自适应技术和PID控制器优点,自动识别各液压缸的实时负载情况,按需调节液压缸的输出流量,从而实现自动调整与协同控制。测试结果表明:该方法有效降低了各液压缸间的同步误差,可将误差控制在合理范围内,确保液压系统始终处于平稳的运行状态,不会出现较大的波动。For the multi-cylinder hydraulic system of driving machinery,an automatic cooperative control method based on feed-forward controller is proposed to realize the synchronous movement of each hydraulic cylinder.First,analyze the results of multi-cylinder hydraulic system and determine the dynamic control equation of each hydraulic cylinder.Then,the cooperative control is divided into two parts:feedforward controller and adaptive PID controller.Among them,the feedforward controller predicts the possible motion error of the hydraulic cylinder by analyzing the feedback information of the system,and designs the pre-processing measures.The adaptive PID controller combines the advantages of adaptive technology and PID controller to automatically identify the real-time load of each hydraulic cylinder and adjust the output flow of the hydraulic cylinder as required,thus realizing automatic adjustment and control.The test results show that the method can effectively reduce the synchronization error between the hydraulic cylinders,control the error within a reasonable range,and ensure that the hydraulic system is always in a stable operation state without large fluctuations.

关 键 词：多缸液压系统 协同控制 前馈控制器 自适应比例-积分-微分控制器 反馈信息 

分 类 号：TH137[机械工程—机械制造及自动化] TP13[自动化与计算机技术—控制理论与控制工程]