非对称液压缸伺服泵控系统控制模型及其参数辨识研究
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摘要
针对非对称液压缸伺服直驱泵控系统控制建模及其参数辨识的问题,分别对伺服电机和泵控非对称液压缸系统进行了理论分析建模,得到了传递函数的模型结构及其阶数。对传统控制理论中的幅频特性测量传递函数方法进行了说明,提出了一种将理论分析建模与系统辨识建模相结合的精确求解系统传递函数的方法,并对伺服电机和泵控非对称液压缸系统分别进行了幅频特性实验,最后采用上述方法得到了非对称液压缸伺服泵控系统控制模型的主要参数和传递函数。研究结果表明:该方法可用于求解系统的传递函数,具有一定的实际应用意义;该方法可为液压机伺服直驱泵控系统的精确控制打下基础。
Aiming at the problem of control modeling and parameter identification of asymmetric hydraulic cylinder servo direct drive pump control system, modeling of servo motor and pump-controlled asymmetric hydraulic cylinder system were derived by theoretical analysis, and the model structure and order of transfer function was obtained. The transfer function method for measuring amplitude-frequency characteristics in traditional control theory was described. A method of accurately solving system transfer function was proposed, which combines theoretical modeling with system identification modeling. The amplitude-frequency characteristics of servo motor and pump-controlled asymmetric hydraulic cylinder system were experimented respectively. The parameters and transfer functions of the control model of the asymmetric hydraulic cylinder servo pump control system were obtained by using the above method. The experimental results show that the method can be used to solve the transfer function of the system, and has certain practical significance. Above reasearches give a good foundation for precise control of press servo direct drive pump control system.
Aiming at the problem of control modeling and parameter identification of asymmetric hydraulic cylinder servo direct drive pump control system, modeling of servo motor and pump-controlled asymmetric hydraulic cylinder system were derived by theoretical analysis, and the model structure and order of transfer function was obtained. The transfer function method for measuring amplitude-frequency characteristics in traditional control theory was described. A method of accurately solving system transfer function was proposed, which combines theoretical modeling with system identification modeling. The amplitude-frequency characteristics of servo motor and pump-controlled asymmetric hydraulic cylinder system were experimented respectively. The parameters and transfer functions of the control model of the asymmetric hydraulic cylinder servo pump control system were obtained by using the above method. The experimental results show that the method can be used to solve the transfer function of the system, and has certain practical significance. Above reasearches give a good foundation for precise control of press servo direct drive pump control system.
引文
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[11] 李浩男,王显军.伺服系统幅频特性测试及传递函数辨识[J].电子测量技术,2013,36(11):4-6.
[2] 郑维,王洪斌,张志明,等.液压泵控缸伺服系统T-S模糊模型在线辨识研究[J].重型机械,2017(6):23-27.
[3] 刘少岗.基于T-S模型的新型电机泵直驱缸伺服系统建模及控制[D].秦皇岛:燕山大学电气工程学院,2014.
[4] 郑洪波,孙友松,黎勉,等.直驱式泵控电液伺服系统建模与动态特性分析[J].锻压技术,2011,36(5):66-70,75.
[5] 韩江,肖扬,夏链,等.新型伺服液压机泵控液压缸液压伺服系统的建模与仿真[J].液压与气动,2011(10):12-15.
[6] YAO Jing,WANG Pei,CAO Xiao-ming,et al.Independent volume-in and volume-out control of an open circuit pump-controlled asymmetric cylinder system[J].Journal of Zhejiang University-Science:Applied Physics & Engineering,2018,19(3):203-210.
[7] HAMIDAT A,BENYOUCEF B.Mathematic models of photovoltaic motor-pump systems[J].Renewable Energy,2008,33(5):933-942.
[8] 胡寿松.自动控制原理[M].第6版.北京:科学出版社,2013.
[9] 吴建德.基于频域辨识的微小型无人直升机的建模与控制研究[D].杭州:浙江大学信息科学与工程学院,2007.
[10] 刘金星,李洪文,年朋,等.伺服系统传递函数的全数字测量方法[J].电子测量技术,2010,33(9):8-10.
[11] 李浩男,王显军.伺服系统幅频特性测试及传递函数辨识[J].电子测量技术,2013,36(11):4-6.