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作 者:王莹 许洋洋 WANG Ying;XU Yangyang(School of Mechanical and Electrical Engineering,Zhengzhou University of Industrial Technology,Zhengzhou 451150,Henan,China)
机构地区:[1]郑州工业应用技术学院机电工程学院,河南郑州451150
出 处:《中国工程机械学报》2025年第1期34-37,43,共5页Chinese Journal of Construction Machinery
摘 要:为了提高液压伺服系统抗外界扰动能力,降低液压伺服系统压力跟踪误差,本文提出了一种基于模型的非线性前馈控制方法,并对叶片泵和离合器压力进行仿真验证。文中给出了液压伺服系统简图,建立液压伺服系统动力学方程式。定义液压伺服系统非平面简化模型的输入-输出线性化,为了获得更好的液压伺服系统压力跟踪性能和抗扰动能力,前馈控制通过附加反馈控制回路进行了扩展,最终设计出一种基于模型的非线性前馈控制方法。采用Matlab软件对液压伺服系统叶片泵和离合器压力进行仿真,与PID控制方法进行对比。结果显示:在有扰动环境中,采用PID控制方法,液压伺服系统叶片泵和离合器压力跟踪误差较大;采用非线性前馈控制方法,液压伺服系统叶片泵和离合器压力跟踪误差较小。采用非线性前馈控制方法,液压伺服系统能够抵抗外界扰动,降低液压伺服系统叶片泵和离合器压力跟踪误差。In order to improve the resistance of hydraulic servo systems to external disturbances and reduce pressure tracking errors,a model-based nonlinear feedforward control method is proposed,and the pressure of the blade pump and clutch is simulated and verified.A schematic diagram of the hydraulic servo system was provided,and the dynamic equation of the hydraulic servo system was established.The input-output linearization of a non planar simplified model for hydraulic servo systems is defined.In order to achieve better pressure tracking performance and disturbance resistance of hydraulic servo systems,the feedforward control is extended through an additional feedback control loop.Finally,a model-based nonlinear feedforward control method is designed.Using Matlab software to simulate the pressure of the hydraulic servo system blade pump and clutch,and comparing it with the PID control method.The results show that in a disturbance environment,using PID control method,the hydraulic servo system has significant pressure tracking errors for the blade pump and clutch.By using nonlinear feedforward control method,the pressure tracking error of the hydraulic servo system blade pump and clutch is relatively small.By using nonlinear feedforward control method,the hydraulic servo system can resist external disturbances and reduce the pressure tracking error of the blade pump and clutch in the hydraulic servo system.
分 类 号:TH137[机械工程—机械制造及自动化]
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