电液伺服系统一种动力学建模方法  

A Dynamic Modeling Method for Electro-Hydraulic Servo System

作　　者：陈轶珩 曲浩然 贾小雪 杨超[1] 张昭[1] CHEN Yiheng;QU Haoran;JIA Xiaoxue;YANG Chao;ZHANG Zhao(National Key Laboratory of Strength and Structural Integrity,Aircraft Strength Research Institute of China,Xi′an710065,Shaanxi,China)

机构地区：[1]中国飞机强度研究所,强度与结构完整性全国重点实验室,陕西西安710065

出　　处：《工程与试验》2024年第1期22-23,104,共3页Engineering and Test

摘　　要：电液伺服系统具有响应速度快、输出功率大、抗冲击性好等优点,广泛应用于飞行器结构强度试验中。然而,因特殊物理结构,电液伺服系统具有复杂的非线性、时变性和不确定性,这为其动力学建模和控制器设计带来了很大的挑战。本文通过分析系统各个部件的物理学特性和工作原理,分别建立了伺服阀流量方程、非对称液压缸流量方程和液压缸力平衡方程。经过一系列数学变化,将动力学方程进一步转化为系统状态空间方程,便于未来工作中对系统进行基于模型的控制器设计。最后,进行了系统仿真平台的搭建,并采用PID控制器进行跟踪控制仿真试验,验证了所提模型的有效性。The electro-hydraulic servo system has the advantages of fast response speed,large output power and good impact resistance,so it is widely used in the structural strength tests of aircrafts.However,due to the special physical structure and working principle,the electro-hydraulic servo system has complex nonlinearities,uncertainties and time-varying characteristics,which bring great challenges to dynamic modeling and controller design.Thus,in this paper,by analyzing the physical characteristics and working principle of each component of the system,the servo valve flow equation,the asymmetric hydraulic cylinder flow equation and the hydraulic cylinder force balance equation are established respectively.Subsequently,through a series of mathematical changes,the dynamic equations are transformed into the state space equations of the system,which facilitates the model-based controller design in the future work.Finally,the simulation platform of the system is built,and the PID controller is used for tracking control simulation tests.The test results demonstrate the effectiveness of the proposed dynamic modeling method for electro-hydraulic servo system.

关 键 词：电液伺服系统 动力学建模 状态空间方程 

分 类 号：TP271.31[自动化与计算机技术—检测技术与自动化装置]