基于容腔压力规划的非模式切换负载口独立电液系统运动控制  

Motion Control of Independent Metering Electro-hydraulic System Based on Chamber Pressure Planning without Mode Switch

作　　者：陈正[1,2] 吕立彤 王飞[4] 姚斌[5] 李冬明 刘红光 张国良 CHEN Zheng;LÜ Litong;WANG Fei;YAO Bin;LI Dongming;LIU Hongguang;ZHANG Guoliang(The State Key Laboratory of Fluid Power and Mechatronics Systems,Zhejiang University,Hangzhou 310027;Ocean College,Zhejiang University,Zhoushan 316021;School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang 050043;Beijing Institute of Space Launch Technology,Beijing 100072;School of Mechanical Engineering,Purdue University,West Lafayette IN47907,USA;Jiangsu Hengli Hydraulic Co.,Ltd.,Changzhou 213164)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,杭州310027 [2]浙江大学海洋学院,舟山316021 [3]石家庄铁道大学机械工程学院,石家庄050043 [4]北京航天发射技术研究所,北京100072 [5]美国普渡大学机械工程学院,美国西拉法叶IN47907 [6]江苏恒立液压股份有限公司,常州213164

出　　处：《机械工程学报》2024年第2期302-312,共11页Journal of Mechanical Engineering

基　　金：国家重点研发计划(2020YFB2009703);国家自然科学基金(52105065,52075476);浙江省自然科学基金杰出青年(LR23E050001);河北省自然科学基金(E2021210011)资助项目。

摘　　要：负载口独立系统是近年来电液系统的研究热点,但该系统在控制设计上呈现“双输入单输出”特性,控制设计的灵活性是其中关键问题;现有研究主要采用模式切换方法,但不同模式下执行器同一容腔的控制目标频繁切换,易造成压力波动。为此,提出基于容腔压力规划和压力跟踪控制的负载口独立系统控制方法,首先基于液压缸理想驱动力,为有杆腔规划出连续可导的压力参考轨迹,进而为两腔单独设计压力跟踪和运动跟踪控制器,从根本上避免模式切换造成的控制目标不连续。最后,针对动态的正、负负载工况,与主流模式切换方法开展对比试验,证实模式切换导致压力波动的现象,验证此方法可以有效降低容腔压力波动幅度,使负载口独立控制系统的动态过程更为平稳。Independent metering system is one of the hotspots within the area of electro-hydraulics.However,the system presents dual-input-single-output property,which brings extra flexibility to control design.Mode switching is the most widely used strategy when dealing with such flexibility.However,the control objectives are changing frequently under different modes and can possibly cause pressure chattering.In this study,based on chamber pressure planning and tracking control,motion control of independent metering system is developed.According to the desired cylinder force,the pressure reference trajectory for the rod-end chamber is planned.Then,the motion and pressure tracking controllers are designed for both chambers.Such strategy avoids the discontinuous control objectives caused by mode switches essentially.Finally,comparative experiments are conducted under positive and negative load conditions.The results show the pressure chattering phenomenon caused by mode switches,and verify that the proposed strategy leads to smoother working condition of the independent metering system.

关 键 词：负载口独立系统 压力控制 运动控制 

分 类 号：TH137[机械工程—机械制造及自动化]