高精度的动态加载系统建模与控制算法试验研究  

Experimental research on modeling and control algorithm of high-precisiondynamic loading device

作　　者：程海鹰 范康康 张文志[2] 石头[2] 高春 CHENG Haiying;FAN Kangkang;ZHANG Wenzhi;SHI Tou;GAO Chun(National Engineering Laboratory of Highway Maintenance Equipment,Chang’an University,Xi’an 710064;College of Mechanical Engineer,Inner Mongolia University of Technology,Hohhot 010051)

机构地区：[1]长安大学公路养护装备国家工程实验室,陕西西安710064 [2]内蒙古工业大学机械工程学院,内蒙古呼和浩特010051

出　　处：《机械设计》2024年第1期28-35,共8页Journal of Machine Design

基　　金：长安大学中央高校基本科研业务费专项资金资助项目(300102251301);内蒙古自治区科技计划资助项目(2021GG0330)。

摘　　要：为设计全程静态精度小于0.05%FS、动态精度小于1%FS的动态力加载装置,文中在缺乏匹配的压力型电液伺服阀的情况下,采用流量型电液伺服阀设计了动态加载装置的液压系统,并对高精度动态加载的控制算法进行了试验研究。试验结果表明:采用传统PID控制加载力,其静态精度可达0.041%FS,动态精度可达2.5%FS,均超过动态加载装置的控制要求;采用自适应PID控制加载力,其静态精度可达0.039%FS,施力中间阶段的加载力动态精度可达1%FS,但在施力初始阶段和施力结束阶段,加载力动态精度高达8%FS,考虑加载力在施力过程中呈现阶段性特点,提出采用分段自适应PID控制算法,经动态加载力试验论证,分段自适应PID算法能够有效解决加载力动态精度超差问题,加载力的静态精度可以控制在0.018%FS,动态控制精度可以控制在1%FS,完全满足高精度动态加载装置的控制要求。In this article,in order to design a dynamic force-loading device with the full static accuracy of less than 0.05%FS and the dynamic accuracy of less than 1%FS,in the absence of any matched pressure-typed electro-hydraulic servo valve,the flow-typed electro-hydraulic servo valve is used to design the dynamic loading device’s hydraulic pressure system,and then the experimental research is conducted on the control algorithm of high-precision dynamic loading.It is shown that when the traditional PID is used to control the loading force,the static accuracy reaches 0.041%FS while the dynamic accuracy reaches 2.5%FS,both exceeding the control requirement of the dynamic loading device.When the self-adaptive PID is used to control the loading force,the static accuracy reaches 0.039%FS while the dynamic accuracy of the loading force in the middle stage of force application reaches 1%FS;however,in the initial and end stages of force application,the dynamic accuracy of the loading force is as high as 8%FS.Since the loading force has different characteristics in these stages,a segmented self-adaptive PID control algorithm is proposed.The test on the dynamic loading force demonstrates that the segmented self-adaptive PID algorithm is helpful to solve the problem that the dynamic accuracy of the loading force exceeds the tolerance.The static accuracy of the loading force is controlled at 0.018%FS while the dynamic accuracy is controlled at 1%FS,which fully meets the control requirement of such high-precision dynamic loading devices.

关 键 词：加载装置 流量型电液伺服阀 动态精度 分段自适应PID 

分 类 号：TH122[机械工程—机械设计及理论]