外部冲击下的液压阻尼作动器位置控制策略研究  

Research on Position Control Strategy of Hydraulic Damping Actuator Under External Impacts

作　　者：马佰周 黄惠[2] 纵怀志 张军辉[1] 徐兵[1] 杜恒[2] MA Baizhou;HUANG Hui;ZONG Huaizhi;ZHANG Junhui;XU Bing;DU Heng(State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027;School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,Fujian 350108)

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,浙江杭州310027 [2]福州大学机械工程及自动化学院,福建福州350108

出　　处：《液压与气动》2024年第12期126-137,共12页Chinese Hydraulics & Pneumatics

摘　　要：为了提高液压伺服系统在外部负载突变时的控制性能,提升核心元件和传感单元的使用寿命,创新提出液压作动器与磁流变阻尼器串联的液压阻尼作动器,以实现主动阻尼补偿。首先,针对系统的抗冲击需求,定制开发了多级堆叠式流道结构的磁流变阻尼器,并将其与液压作动器串联组成液压阻尼作动器;然后,采用基于力内环和位置外环的阻尼补偿控制方法,且设计磁流变阻尼器与液压作动器的耦合控制器,确保液压作动器位移跟踪精度的同时快速抑制外部振动冲击;最后,构建位移激励和变负载冲击实验,活塞杆的综合位移控制精度提高了38%以上,验证了液压阻尼作动器在耦合控制器下具备良好的动态响应性能和冲击抑制效果。In order to improve the control performance of the hydraulic servo system when the external load changes,and enhance the service life of the core components and sensing units.A hydraulic damping actuator in series with a hydraulic actuator and a magnetorheological damper is proposed,which can achieve active damping compensation of hydraulic actuator.Firstly,according to the impact resistance requirements of the system,the magnetorheological damper with multi-stage flow channel structure is developed,which is connected in series with the hydraulic actuator to form hydraulic damping actuator.Then,the damping compensation control strategy based on the force inner loop and position outer loop are adopted,and the coupling controller of hydraulic damping actuator is designed to ensure the displacement tracking accuracy of the hydraulic actuator and quickly suppress the external vibration impact.Finally,by constructing the displacement excitation and variable load impact experiments,the comprehensive displacement control accuracy of the piston rod is improved by more than 38%.It is verified that the hydraulic damping actuator has excellent dynamic performance and impact suppression effect under the coupling controller.

关 键 词：液压伺服系统 液压阻尼作动器 磁流变阻尼器 位置控制 冲击抑制 

分 类 号：TH137[机械工程—机械制造及自动化]