阀控液压缸动力机构通用非线性建模与试验验证

摘要

Nonlinear state equations model,which is applied to either asymmetric cylinder or symmetric cylinder controlled by asymmetric valve or symmetric valve,is built to analyze the valve -controlled cylinder system using the flow and force balance equations.The nonlinear model is used to analyze the pressure properties of two prac-tical systems,which are the symmetric/asymmetric valve-controlled asymmetric cylinder system.The compari-son of the outcomes between simulation and experiment proves the correctness of the nonlinear model.The non-linear model presented is universal,which can be used to simulate,design and research the control strategy for various valve-controlled cylinder systems.%在分析阀控液压缸动力机构工作原理的基础上,应用流量和力平衡方程建立了阀控液压缸动力机构的非线性状态方程数学模型,并运用该模型分别对某六自由度实验平台的对称阀控制非对称缸电液伺服系统和某实际非对称阀控制非对称缸电液伺服系统的压力特性进行仿真分析,通过仿真和试验结果的对比,验证了所建阀控液压缸动力机构非线性状态方程数学模型的正确性.该数学模型具有通用性,可用于各类阀控液压缸系统的仿真、设计和控制策略等的理论研究.