变转速液压动力源的输入前馈-反馈复合补偿控制

发布时间：2018-05-24 16:36

本文选题：机械工程 + 液压动力源　；参考：《长安大学学报(自然科学版)》2017年05期

【摘要】：针对简单比例-积分-微分(PID)控制在液压系统控制中出现严重滞后、不易调节等问题,提出采用输入前馈-反馈复合补偿控制策略实现液压动力源典型工况下流量的跟踪控制,以控制执行机构速度。该方法以变转速机电液系统试验平台为基础进行建模,深入分析液压动力源机电液参数之间的耦合关系,建立整个试验平台的输入前馈-反馈复合补偿控制模型,以实现液压动力源典型工况(阶跃、斜坡、正弦动态变化)下流量的跟踪控制。研究结果表明:与简单PID控制相比,目标流量阶跃变化时,复合控制响应时间减小约40%,稳态误差减小约33%;目标流量斜坡变化时,复合控制响应时间减小约44%,动态误差减小约46%;目标流量正弦变化时,响应时间和动态误差减小至简单PID反馈控制的30%,系统的动态响应特性得到大幅度提升。输入前馈-反馈复合补偿控制算法简单、可靠性高,解决了传统液压调速出现的滞后、响应慢、不易调节等问题。
[Abstract]:Aiming at the problems of the simple proportional integral-differential PID-control in the control of hydraulic system, such as serious lag and difficulty in adjusting, this paper puts forward a hybrid compensation strategy of input feedforward and feedback to realize the flow tracking control under typical working conditions of hydraulic power source. To control the speed of the actuator. Based on the test platform of electromechanical hydraulic system with variable rotational speed, the coupling relationship between electromechanical and hydraulic parameters of hydraulic power source is deeply analyzed, and the input feedforward feedback compound compensation control model of the whole test platform is established. In order to realize the flow tracking control under typical working conditions (step, slope, sinusoidal dynamic change) of hydraulic power source. The results show that compared with simple PID control, the response time of composite control is reduced by about 40 and the steady-state error is reduced by about 33 when the target flow step changes, and when the target flow slope changes, The response time and dynamic error of the composite control are reduced by about 44 and 46. when the sinusoidal flow rate of the target is changed, the response time and dynamic error are reduced to 30% of the simple PID feedback control, and the dynamic response characteristics of the system are greatly improved. The input feedforward and feedback compound compensation control algorithm is simple and reliable, which solves the problems of lag, slow response and difficult adjustment of traditional hydraulic speed regulation.
【作者单位】：西安建筑科技大学机电工程学院;
【基金】：国家自然科学基金项目(51675399) 陕西省教育厅专项科研计划项目(15JK1412) 西安建筑科技大学基础研究基金项目(JC1608)
【分类号】：TH137

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