双缸四柱液压机同步控制系统的研究
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摘要
针对某双缸四柱液压机位移同步控制的功能要求,设计一种可以实现双缸四柱液压机位移同步控制的液压系统。结合双缸四柱液压机位移同步控制方法与策略,提出采用能满足系统稳定性和鲁棒性要求的分数阶PID控制策略对其进行位移同步控制。运用AMESim和Simulink对双缸同步液压系统进行建模,对比分析了分数阶PID与常规PID对液压缸运动控制的动态效果,得到了该液压系统中液压缸活塞杆位移、速度等曲线。仿真结果表明:分数阶PID控制器具有较强的抗干扰能力和较好的鲁棒性,验证了所设计的双缸四柱液压机位移同步控制的液压系统具有良好的工作性能。
According to the functional requirements of displacement synchronous control in the double cylinders four-column hydraulic press,a hydraulic system was designed to realize the displacement synchronous control in double cylinders four-column hydraulic press. In combination with the control method and strategy of displacement synchronous control in double cylinders four-column hydraulic press,a fractional order PID( FOPID) control that could meet the stability and robustness requirements of system was proposed to conduct the displacement synchronous control in double cylinders four-column hydraulic press. AMESim and simulink were applied to establish the hydraulic system model and the dynamic effects of hydraulic cylinder motion control based on fractional order PID and conventional PID were compared and analyzed. The dynamic curves for displacement and velocity of piston rod in hydraulic cylinder were obtained. Based on the simulation results,it can be concluded that the fractional order PID controller is possessed of stronger anti-interference ability and better robustness,it is proved that hydraulic system of the displacement synchronous control in the double cylinders four-column hydraulic press has a good working performance.
According to the functional requirements of displacement synchronous control in the double cylinders four-column hydraulic press,a hydraulic system was designed to realize the displacement synchronous control in double cylinders four-column hydraulic press. In combination with the control method and strategy of displacement synchronous control in double cylinders four-column hydraulic press,a fractional order PID( FOPID) control that could meet the stability and robustness requirements of system was proposed to conduct the displacement synchronous control in double cylinders four-column hydraulic press. AMESim and simulink were applied to establish the hydraulic system model and the dynamic effects of hydraulic cylinder motion control based on fractional order PID and conventional PID were compared and analyzed. The dynamic curves for displacement and velocity of piston rod in hydraulic cylinder were obtained. Based on the simulation results,it can be concluded that the fractional order PID controller is possessed of stronger anti-interference ability and better robustness,it is proved that hydraulic system of the displacement synchronous control in the double cylinders four-column hydraulic press has a good working performance.
引文
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[2] KOCH S,REICHHARTINGER M. Observer-based Sliding Mode Control of Hydraulic Cylinders in the Presence of Unknown Load Forces[J]. E&I Elektrotechnik Und Informationstechnik,2016,133(6):253-260.
[3]石云飞,章青,吕喆.基于模糊PID控制的液压同步提升系统仿真分析[J].计算机工程与科学,2016,38(11):2335-2341.SHI Y F,ZHANG Q,LV Z. Simulation Analysis of Hydraulic Synchronous Lifting System Based on Fuzzy PID Control[J]. Computer Engineering and Science,2016,38(11):2335-2341.
[4]陈轶辉,李洪星.双缸液压系统活塞运动轨迹同步模糊控制研究[J].机床与液压,2017,45(4):146-148.CHEN Y H,LI H X. Research on Synchronous Fuzzy Control of Duplex Hydraulic Piston Trajectory[J]. Machine Tool&Hydraulics,2017,45(4):146-148.
[5]柏林,黄庆学,张华君,等.矫直机电液伺服系统的PSO二自由度内模同步控制[J].重型机械,2013(6):56-60.BAI L,HUANG Q X,ZHANG H J,et al. Leveler PSO Twodegree-freedom Internal Model Synchronization Control of Electro-hydraulic Servo System[J]. Heavy Machinery,2013(6):56-60.
[6]刘飞.双缸四柱液压机同步控制系统仿真与研究[D].上海:上海工程技术大学,2016.
[7]刘天豪,左茂文,李恒,等.基于AMESim和MATLAB的液压缸位置同步控制问题仿真的比较研究[J].液压气动与密封,2010,30(6):32-34.LIU T H,ZUO M W,LI H,et al. The Comparison Study on Simulation Issue of Position Synchronized Control for Hydraulic Cylinder Based on AMESim and MATLAB[J].Hydraulics Pneumatics&Seals,2010,30(6):32-34.
[8]王春阳.分数阶PIλDμ控制器参数整定方法与设计研究[D].长春:吉林大学,2013.
[9]郑永军,白伟,薛生虎.分数阶传递函数的SIMULINK实现[J].控制工程,2013,20(6):1066-1069.ZHENG Y J,BAI W,XUE S H. SIMULINK Realization for Fractional Order Transfer Function[J]. Control Engineering of China,2013,20(6):1066-1069.