新型伺服直驱式电液执行器控制策略研究
发布时间：2018-11-15 21:01
【摘要】：随着科学技术的发展,人们对节能环保的要求日益提高。而液压系统虽然具有功率重量比大的突出优点,但是,大多数传统液压系统在工作中使用节流调速,主要易造成能量损失大、效率低的缺点,因而极大地限制了传统液压系统的应用和普及。 伺服直驱式电液执行器是一种新型的液压传动装置,它直接用伺服电机驱动定量液压泵,通过控制伺服电机的转速,而达到改变定量液压泵的输出流量,从而实现对液压缸的速度或位置的控制。这种新型的电液执行器本质上属容积调速,克服了节流型传统液压系统的缺陷,具有节能、抗污染能力强、紧凑、安装连接简便等显著特点。 本论文正是以一种新型伺服直驱式电液执行器为研究对象,在使用AMESim和MATLAB/Simulink进行联合仿真,并得出一些有益的结论的基础上,借助于MATLAB RTW xPC实时控制技术,搭建了基于新型伺服直驱式电液执行器位置控制实验平台,实现了普通PID控制和模糊控制。仿真和实验结果表明,相比于普通PID算法,所提出的模糊控制策略,能够大幅提高新型伺服直驱式电液执行器的鲁棒性和抗干扰能力。 本论文所开展的主要研究工作有: 1)结合市场应用情况和客户的实际需求,以新型伺服直驱式电液执行器为研究目标,搭建了基于MATLAB RTW Xpc的位置控制实验平台,软硬件结合使用,并以研华PCI 1716多功能数据采集卡作为软硬件交互平台,进行信号的采集和输出。 2)通过AMESim对实验平台进行了建模,并与MATLAB进行了联合仿真,将AMESim便于建模的优点和MATLAB易于编写复杂算法的优点结合在一起,为控制算法的引入搭建了软件平台和控制基础,通过控制算法仿真与分析,为实验样机的调试实验指明了一些有益的方向。 3)在进行了基于AMESim和MATLAB两种软件联合仿真的基础上,在样机实验平台上进行数据采集及分析,实测数据表明,模糊控制算法在鲁棒性和抗干扰能力方面,相较于普通PID控制,均具有较为明显的优越性,并能够达到要求的控制目标,实现对伺服直驱式电液执行器的理想控制。
[Abstract]:With the development of science and technology, people's demand for energy saving and environmental protection is increasing day by day. Although the hydraulic system has the outstanding advantage of large power / weight ratio, most of the traditional hydraulic systems use throttling speed regulation in the work, which is easy to cause the shortcomings of large energy loss and low efficiency. Therefore, the application and popularization of traditional hydraulic system are greatly limited. The servo direct-drive electro-hydraulic actuator is a new type of hydraulic transmission device. It drives the quantitative hydraulic pump directly with the servo motor. By controlling the speed of the servo motor, the output flow of the quantitative hydraulic pump can be changed. Thus, the speed or position of the hydraulic cylinder can be controlled. This new type of electro-hydraulic actuator is essentially a volumetric speed regulating device, which overcomes the defects of the traditional throttling hydraulic system and has the remarkable characteristics of saving energy, strong anti-pollution ability, compact and easy to install and connect. In this paper, a new type of servo direct-drive electro-hydraulic actuator is studied. On the basis of using AMESim and MATLAB/Simulink to carry out the joint simulation, some useful conclusions are drawn, and the real-time control technology of MATLAB RTW xPC is used. An experimental platform for position control of electro-hydraulic actuator based on new servo direct-drive actuator is built. The common PID control and fuzzy control are realized. The simulation and experimental results show that the proposed fuzzy control strategy can greatly improve the robustness and anti-jamming ability of the new servo direct-drive electro-hydraulic actuator compared with the conventional PID algorithm. The main research work in this paper is as follows: 1) based on the application of market and the actual demand of customers, a position control experimental platform based on MATLAB RTW Xpc is built with the new servo direct-drive electro-hydraulic actuator as the research goal. The software and hardware are used together, and the PCI 1716 multi-function data acquisition card is used as the hardware and software interactive platform to collect and output the signal. 2) the experiment platform is modeled by AMESim and simulated with MATLAB. The advantages of AMESim are combined with the advantages of MATLAB which is easy to write complex algorithms. The software platform and control foundation are built for the introduction of control algorithm. Through the simulation and analysis of the control algorithm, some useful directions are pointed out for the debugging experiment of the experimental prototype. 3) based on the joint simulation of AMESim and MATLAB software, the data acquisition and analysis are carried out on the prototype experimental platform. The measured data show that the fuzzy control algorithm is more robust and anti-jamming than the common PID control algorithm. Both of them have obvious advantages and can achieve the desired control goal and realize the ideal control of servo direct-drive electro-hydraulic actuator.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH137
本文编号：2334447
[Abstract]:With the development of science and technology, people's demand for energy saving and environmental protection is increasing day by day. Although the hydraulic system has the outstanding advantage of large power / weight ratio, most of the traditional hydraulic systems use throttling speed regulation in the work, which is easy to cause the shortcomings of large energy loss and low efficiency. Therefore, the application and popularization of traditional hydraulic system are greatly limited. The servo direct-drive electro-hydraulic actuator is a new type of hydraulic transmission device. It drives the quantitative hydraulic pump directly with the servo motor. By controlling the speed of the servo motor, the output flow of the quantitative hydraulic pump can be changed. Thus, the speed or position of the hydraulic cylinder can be controlled. This new type of electro-hydraulic actuator is essentially a volumetric speed regulating device, which overcomes the defects of the traditional throttling hydraulic system and has the remarkable characteristics of saving energy, strong anti-pollution ability, compact and easy to install and connect. In this paper, a new type of servo direct-drive electro-hydraulic actuator is studied. On the basis of using AMESim and MATLAB/Simulink to carry out the joint simulation, some useful conclusions are drawn, and the real-time control technology of MATLAB RTW xPC is used. An experimental platform for position control of electro-hydraulic actuator based on new servo direct-drive actuator is built. The common PID control and fuzzy control are realized. The simulation and experimental results show that the proposed fuzzy control strategy can greatly improve the robustness and anti-jamming ability of the new servo direct-drive electro-hydraulic actuator compared with the conventional PID algorithm. The main research work in this paper is as follows: 1) based on the application of market and the actual demand of customers, a position control experimental platform based on MATLAB RTW Xpc is built with the new servo direct-drive electro-hydraulic actuator as the research goal. The software and hardware are used together, and the PCI 1716 multi-function data acquisition card is used as the hardware and software interactive platform to collect and output the signal. 2) the experiment platform is modeled by AMESim and simulated with MATLAB. The advantages of AMESim are combined with the advantages of MATLAB which is easy to write complex algorithms. The software platform and control foundation are built for the introduction of control algorithm. Through the simulation and analysis of the control algorithm, some useful directions are pointed out for the debugging experiment of the experimental prototype. 3) based on the joint simulation of AMESim and MATLAB software, the data acquisition and analysis are carried out on the prototype experimental platform. The measured data show that the fuzzy control algorithm is more robust and anti-jamming than the common PID control algorithm. Both of them have obvious advantages and can achieve the desired control goal and realize the ideal control of servo direct-drive electro-hydraulic actuator.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH137
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