新型液压回转-机械直线执行器的死区补偿控制  

Dead Zone Compensation Control of New Hydraulic Motor-mechanical Linear Actuator

作　　者：葛磊 倪豪[1,2] 郝云晓 赵斌 苑永亮 权龙[1,2] GE Lei;NI Hao;HAO Yunxiao;ZHAO Bin;YUAN Yongliang;QUAN Long(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024;Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province,Taiyuan University of Technology,Taiyuan 030024)

机构地区：[1]太原理工大学机械与运载工程学院,太原030024 [2]太原理工大学新型传感器与智能控制教育部山西省重点实验室,太原030024

出　　处：《机械工程学报》2024年第8期337-347,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(51805349,51875385)。

摘　　要：为解决泵控单出杆液压缸存在的面积不对称以及电动缸功率密度低等问题,提出采用闭式泵控液压马达代替伺服电机驱动滚珠丝杠的新型液压回转-机械直线执行器系统。同时,针对新系统由于泄漏死区所导致的难以实现准确定位的缺陷,设计一种带有负载前馈的变论域模糊PID来对死区进行补偿控制,该补偿方法充分考虑系统的非线性、扰动的不确定性,在原理上不严格依赖于系统的数学模型,能够在死区变化时对控制系统进行自适应在线调整。后在Simulink和SimulationX中建立该系统的联合仿真模型,研究结果表明,与传统的PID控制器相比,所提出的带有负载前馈的变论域模糊PID不仅有效地解决系统的死区补偿问题、显著地提高系统的定位精度,同时改善系统的动态响应特性,并使系统兼具良好的稳定性和抗干扰能力。In order to solve the problems of unsymmetrical area of pump controlled single rod hydraulic cylinder and low power density of electric cylinder,a new hydraulic motor-mechanical linear actuator system using closed pump controlled hydraulic motor instead of servo motor to drive ball screw is proposed.At the same time,in view of the defect that the new system is difficult to achieve accurate positioning due to the leakage dead zone,a variable universe fuzzy PID with load feedforward is designed to compensate the dead zone.The compensation method fully considers the nonlinearity of the dead zone and the uncertainty of load disturbance.In principle,it does not strictly depend on the mathematical model of the system,and can adaptively adjust the control system when the dead zone changes.Then,in Simulink and SimulationX,the joint simulation model of the system is established.The research results show that,compared with the traditional PID controller,the proposed variable universe fuzzy PID with load feedforward not only effectively solves the problem of dead time compensation,significantly improves the positioning accuracy of the system,but also improves the dynamic response characteristics of the system,and makes the system have good robustness and anti load interference ability.

关 键 词：泵控马达 滚珠丝杠 死区补偿 负载前馈 变论域模糊PID 

分 类 号：TH137[机械工程—机械制造及自动化]