地震模拟平台液压系统同步控制的研究
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摘要
在对地震模拟平台三向六液压缸系统的z轴上4个液压缸进行非线性分析的基础上,用不同的比例系数按分段控制方法进行非线性补偿,使地震平台上升和下降的运行速度保持一致;采用位移差和速度差组成的双闭环结构动态修正PID参数,实现了各轴的自适应同步控制;用零点补偿方法解决了液压系统的泄漏和液压缸的死区造成的稳态误差的问题;用补偿预估模块方便地实现了零点补偿值的自动调整。
Based on the hydraulic system of earthquake simulation platform,the paper proposed a nonlinear compensation approach for three directions to six hydraulic cylinder system.The proportion of different non-linear compensation were set by step control,so that up-and-down movement of earthquake simulation platform was coordinate.A double closed loops system composing of position errors and velocity errors was employed to turn the PID parameters adaptively.The steady errors caused by the leakage and dead-zone of the hydraulic cylinder can be compensated by zero compensation method.In addition,using the forecasting module,the value of compensation was adjusted automatically and expediently.
Based on the hydraulic system of earthquake simulation platform,the paper proposed a nonlinear compensation approach for three directions to six hydraulic cylinder system.The proportion of different non-linear compensation were set by step control,so that up-and-down movement of earthquake simulation platform was coordinate.A double closed loops system composing of position errors and velocity errors was employed to turn the PID parameters adaptively.The steady errors caused by the leakage and dead-zone of the hydraulic cylinder can be compensated by zero compensation method.In addition,using the forecasting module,the value of compensation was adjusted automatically and expediently.
引文
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[8]刘乔,吴新跃,石阳,等.电液伺服系统的积分滑模自适应控制方法的研究[J].机床与液压,2008,36(5):126-129.
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[10]池荣虎,侯忠生,于镭,等.高阶无模型自适应迭代学习控制[J].控制与决策,2008,23(7):795-798.
[11]王中华,张勇.运动控制中的鲁棒自适应死区补偿[J].控制理论与应用,2008,25(3):475-479.
[2]吴保林,裘丽华,唐志勇,等.工程机械液压底盘模拟实验台双马达同步技术研究[J].中国机械工程,2006,17(9):899-902.
[3]Sun D.A Model-free Cross-coupled Control forPosition Synchronization of Multi-axis Motions:Theory and Experi ments[J].IEEE Transactions onControl Systems Technology,2007,15(2):306-314.
[4]Xiao Y,Zhu K Y.A Cross-coupling ReferenceModel Control Algorithm[J].International Journalof Adaptive Control and Signal Processing,2005,19(8):623-638.
[5]高钦和,黄先祥,王孙安.含多级油缸的液压举升系统智能PID控制研究[J].中国机械工程,2007,18(6):662-665.
[6]刘春芳,吴伟.双电液伺服系统同步模糊控制研究[J].液压与气动,2005(9):19-21.
[7]蒲兴成.一类连续混沌系统的自适应同步控制器[J].四川大学学报(自然科学版),2006,43(6):1412-1415.
[8]刘乔,吴新跃,石阳,等.电液伺服系统的积分滑模自适应控制方法的研究[J].机床与液压,2008,36(5):126-129.
[9]杨勇.液压伺服系统自适应模糊变结构控制[J].电子学报,2008,36(1):86-89.
[10]池荣虎,侯忠生,于镭,等.高阶无模型自适应迭代学习控制[J].控制与决策,2008,23(7):795-798.
[11]王中华,张勇.运动控制中的鲁棒自适应死区补偿[J].控制理论与应用,2008,25(3):475-479.
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