泵阀联合EHA液压冲击抑制研究

摘要

针对泵阀联合电静液作动器液压源供油能力不足产生液压冲击的问题,采用前馈控制,将位置误差作为前馈信号引入压力控制回路,以提高压力控制回路的响应速度;同时将位置控制过程分为速度控制和位置控制两个阶段,作动器最大速度由泵源最大流量、泵和阀的泄漏及液体的压缩性共同限制,且设计了组合给定曲线以使速度平滑变化,同时设计了模糊切换控制器来削弱速度控制向位置控制切换时产生的抖振.仿真结果表明,其有效抑制了液压冲击且便于工程实现.%Aiming at the problem of hydraulic impact owing to hydraulic source supply of the pump and valve combined EHA (electro-hydrostatic actuator) is not enough. On the one hand feed-forward control is adopted, the position error is added to the pressure control circuit to increase the dynamic response of the pressure control circuit. On the other hand the position control process is divided to a velocity control process and a position process in which the maximum velocity of the actuator is restricted within the supply flow rate, the leakage of the pump and the valve and the liquid compressibility, designs the combined given curve to smooth variation of velocity and the fuzzy switching controller to weaken chattering when velocity control switching to position control. The simulation results show that the proposed method restrains the hydraulic impact and easy engineering practice.