大流量电液同步系统开闭环复合控制研究  

Research on compound control of open-loop and closed-loop for a large flow electro-hydraulic synchronization system

作　　者：孙春耕[1] 谭颖 段志杰 李骥鹏 SUN Chungeng;TAN Ying;DUAN Zhijie;LI Jipeng(Facutly of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,Yunnan,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《中国工程机械学报》2024年第6期717-722,共6页Chinese Journal of Construction Machinery

基　　金：云南省重大科技专项计划资助项目(202202AC080008)。

摘　　要：针对大流量电液同步系统存在参数不确定性、外部扰动等问题,本文先是采用同步分流马达开环液压同步系统,然后针对各执行元件存在加工精度和负载波动等问题导致双缸同步效果不理想,提出采用同步分流马达与电液伺服阀并联的开闭环复合控制。该闭环控制器采用非线性自抗扰控制(ADRC),利用非线性扩张观测器对外扰动的实时估计,采用非线性误差反馈控制律给予补偿,消除跟踪的扰动误差,并与传统PID和模糊PID控制仿真结果进行对比。最后采用误差反馈的同步控制方式,降低跟踪的误差。仿真结果表明:采用ADRC比模糊PID响应效率提高了85%,比传统PID响应效率提高了98%,对加入的扰动起着更好的抑制作用并能减小系统的同步误差。基于误差反馈的同步控制策略使双缸的同步误差缩小了56%,极大降低了大流量电液同步系统的控制成本。A large flow electro-hydraulic synchronization system aiming at the problems of parameter uncertainty and external disturbances.Initially,the paper introduces an open-loop hydraulic synchronization system using a synchronous shunt motor.Subsequently,due to the problems of machining accuracy and load fluctuation in various hydraulic actuators,which lead to unsatisfactory synchronization effect of the double-cylinder,a compound control of open-loop and closed-loop using electro-hydraulic servo valve and synchronous shunt motor in parallel is proposed.The closedloop controller utilizes nonlinear active disturbance rejection control(ADRC),incorporating realtime estimation of external disturbances through a nonlinear extended observer.The nonlinear error feedback control law is employed to compensate for tracking disturbance errors.The simulation results are compared with traditional PID and fuzzy PID control.Finally,a synchronous control with error feedback is applied to eliminate tracking errors.The simulation results show that using an ADRC controller increases the response efficiency by 85%compared to fuzzy PID,and enhances the response efficiency by 98%compared to traditional PID.Moreover,it has a better suppression effect on added disturbances and the synchronization error of the system is reduced.The error feedback synchronization control strategy is applied to reduce the synchronization error of the double-cylinder by 56%.The control cost of the large flow electro-hydraulic synchronization system is greatly reduced by the proposed control strategy.

关 键 词：同步分流马达 电液系统 误差反馈 自抗扰控制 复合控制 

分 类 号：TH137.9[机械工程—机械制造及自动化]