泵控差动缸系统带负载力补偿量速度/位置复合控制方法

摘要

Aiming at the pump-control differential cylinder system,the strategy of speed and position compound servo control with compensation amount of load force was put forward and the calculation models of controlled variable of speed feed-forward and compensation amount of load force were set up in order to improve the steady state and control accuracy.As for the stable switching between the speed control and position control,the switching parameters,including the difference between actual position and target location,and switching time were studied.The simulation model and the physical-experiment model of this system were set up to make study of simulation and experiment,the results demonstrated that the speed and position compound controlling strategy can be used to realize the control of speed and position of pump control differential cylinder system at the same time,which improved the motion stability of the differential cylinder on the prereguisite of controlling accuracy.Compared with the composite servo control,the system of separate position servo control was also studied in simulation and experiment.The comparing results showed that the composite control strategy mentioned above beared the obvious superiority.%为提高泵控差动液压缸系统运动过程的平稳性及控制精度,提出了带有负载力补偿量的速度/位置复合伺服控制策略,确定了速度前馈控制量计算模型和负载力补偿量计算模型.为实现速度控制和位置控制的平稳切换,对切换参数及切换时机进行了研究,以实际位置相对目标位置的差值作为切换参数.建立系统的仿真模型和物理试验模型,对系统进行仿真和试验研究,仿真结果和试验结果都表明,采用速度/位置复合控制策略可以实现对泵控差动缸系统的速度和位置的同时控制,在保证控制精度的前提下有效提高了差动缸的运动平稳性.为便于比较,还对泵控差动缸系统单独的位置伺服控制进行了仿真和试验研究,对比结果表明,所提出的复合控制策略具有明显的优越性.