电液比例泵控马达系统辨识及实验分析研究

发布时间：2018-07-08 09:14

本文选题：电液比例泵控马达 + 系统辨识　；参考：《长安大学》2014年硕士论文

【摘要】：随着电液比例控制技术的迅速发展，其可以作为微电子技术与液压技术间的接口，进一步扩大了泵控马达系统的应用。为了使液压系统能够满足生产过程对系统性能的更高要求，，必须提高液压系统的响应特性及工作可靠性，而建立系统的精确模型则是进一步改进和完善系统设计的基础。本论文通过实验，利用所得实验数据、结合Matlab软件、运用ARX和ARMAX模型辨识方法对电液比例泵控马达系统进行了实验辨识，并对系统施加控制策略进行了仿真分析。主要做的工作如下：（1）对电液比例控制技术和系统辨识理论的发展和现状进行了简要概述，总结了泵控马达系统建模的重要性及进行辨识建模的必要性，并对实验台及泵控马达模块进行了介绍。（2）根据泵控马达系统各模块所遵循的物理规律分别进行了理论建模，在此基础上获得了系统的传递函数，为后面辨识建模提供了先验知识。（3）合理设计实验，采集辨识所需数据。利用Matlab系统辨识工具箱函数分析处理观测数据，运用最小二乘法和增广最小二乘法对系统的ARX和ARMAX模型进行实验辨识，并对辨识模型进行残差相关性分析和验证，在两种模型辨识方法所得辨识模型比较后，最终获得符合要求的系统模型。（4）根据实验辨识所得的系统模型，利用斜坡、阶跃、正弦三种信号作为仿真输入信号，分别针对系统的静态、动态和跟随响应进行了仿真分析，从仿真分析结果知道，运用PID控制策略后系统的响应时间、超调量、稳态误差和跟随性能都得到显著改善，可以满足系统的性能要求。系统辨识作为一种精确地建模方法，其不必对所要辨识的系统进行深入的了解，只需设计一个充分包含进行系统辨识所需信息的实验，就可以获得所需的系统模型。本论文充分利用Matlab系统辨识工具箱及Simulink模块的强大功能对电液比例泵控马达系统进行了建模和仿真分析，将为后续的泵控马达系统设计及控制策略分析提供一定的参考意义。
[Abstract]:With the rapid development of electro-hydraulic proportional control technology, it can be used as the interface between microelectronic technology and hydraulic technology, which further expands the application of pump control motor system. In order to make the hydraulic system meet the higher requirements of the system performance in the production process, it is necessary to improve the response characteristics and working reliability of the hydraulic system, and the establishment of the accurate model of the system is the basis for further improvement and improvement of the system design. In this paper, we use the experimental data and Matlab software to identify the electro-hydraulic proportional pump control motor system by using ARX and ARMAX model identification method, and analyze the applied control strategy of the system. The main works are as follows: (1) the development and current situation of electro-hydraulic proportional control technology and system identification theory are briefly summarized, and the importance of modeling of pump controlled motor system and the necessity of identification modeling are summarized. The experimental platform and the pump motor module are introduced. (2) according to the physical laws of the pump motor system, the theoretical modeling is carried out, and the transfer function of the system is obtained. A priori knowledge is provided for the later identification modeling. (3) the experiment is designed reasonably and the data needed for identification is collected. The system identification toolbox function of Matlab is used to analyze and process the observation data, and the ARX and ARMAX models of the system are identified by the least square method and the augmented least square method, and the residual correlation analysis and verification of the identification model are carried out. After comparing the two identification models, the system model that meets the requirements is obtained. (4) according to the system model identified by experiments, three kinds of signals, slope, step and sinusoidal, are used as simulation input signals. The simulation results show that the response time, overshoot, steady-state error and follow performance of the system are improved significantly by using pid control strategy. Can meet the performance requirements of the system. As an accurate modeling method, system identification does not need to understand the system to be identified in depth. It only needs to design an experiment that contains the information needed for system identification, and then the required system model can be obtained. This paper makes full use of the powerful functions of Matlab system identification toolbox and Simulink module to model and simulate the electro-hydraulic proportional pump motor system, which will provide some reference significance for the subsequent design of pump control motor system and the analysis of control strategy.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH137.51

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