导弹液压起竖系统流量压力复合控制策略研究
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摘要
导弹起竖系统的负载是时变的且存在超越负载,而采用位置闭环或开环控制方法时控制精度低,且在负载起动、制动过程中易产生较大的液压冲击。针对这一问题,提出负载口独立控制起竖过程的方法,液压缸的进口与出口分别由两个独立调节的节流阀控制,进口节流阀用来控制进油侧的流量,出口节流阀用来控制出油侧的压力,分别设计了基于计算流量反馈的流量控制器和基于压力闭环控制的压力控制器,实现了流量压力复合控制。完成了控制策略的起竖试验验证,通过与位移闭环控制效果对比得出结论:基于负载口独立的流量压力复合控制策略减小了起竖过程的压力冲击,提高了系统控制精度。
The load of missile erection system is time-varying and an excessive load exists. When the closed or open loop control method is used,the control accuracy is low,and a large hydraulic impact is easily generated in starting-braking process. An independent metering technology is proposed to control the erection process. The inlet and outlet of hydraulic cylinder are controlled by two independently adjustable throttle valves,respectively. The inlet throttle valve is used to control the flow of inlet,and the outlet throttle valve is used to control the pressure of outlet. The flow and pressure controllers are designed based on computational flow feedback and pressure closed loop,respectively. Flow and pressure compound control strategy was achieved. Experiment of the control strategy was accomplished. Through comparison with displacement closed loop,it is shown that the flow and pressure compound control method is used to reduce the hydraulic impact and improve the control precision of erection system.
The load of missile erection system is time-varying and an excessive load exists. When the closed or open loop control method is used,the control accuracy is low,and a large hydraulic impact is easily generated in starting-braking process. An independent metering technology is proposed to control the erection process. The inlet and outlet of hydraulic cylinder are controlled by two independently adjustable throttle valves,respectively. The inlet throttle valve is used to control the flow of inlet,and the outlet throttle valve is used to control the pressure of outlet. The flow and pressure controllers are designed based on computational flow feedback and pressure closed loop,respectively. Flow and pressure compound control strategy was achieved. Experiment of the control strategy was accomplished. Through comparison with displacement closed loop,it is shown that the flow and pressure compound control method is used to reduce the hydraulic impact and improve the control precision of erection system.
引文
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[2]Cerman O,Hu2ek P.Adaptive fuzzy sliding mode control for electro-hydraulic servo mechanism[J].Expert Systems with Applications,2012,39(11):10269-10277.
[3]Khansar M A,Kaynak O,Yin S,et al.Adaptive indirect fuzzy sliding mode controller for networked control systems subject to time-varying network-induced time delay[J].IEEE Transactions on Fuzzy Systems,2015,23(1):205-214.
[4]Yao J Y,Jiao Z X,Ma D W.Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping[J].IEEE Transactions on Industrial Electronics,2014,61(11):6285-6293.
[5]权龙,许小庆,李敏,等.电液伺服位置、压力复合控制原理的仿真及试验[J].机械工程学报,2008,44(9):100-105.QUAN Long,XU Xiao-qing,LI Min,et al.Simulation and test of electro-hydraulic servo position and pressure hybrid control principle[J].Chinese Journal of Mechanical Engineering,2008,44(9):100-105.(in Chinese)
[6]许小庆,权龙,王永进.伺服阀流量动态校正改善电液位置系统性能的理论和方法[J].机械工程学报,2009,45(8):95-100.XU Xiao-qing,QUAN Long,WANG Yong-jin.Theory and methods of modifying electro-hydraulic position servo system with correction on flow rate at servo valve[J].Journal of Mechanical Engineering,2009,45(8):95-100.(in Chinese)
[7]柏艳红,权龙.电液位置速度复合伺服系统控制策略[J].机械工程学报,2010,46(24):150-155.BAI Yan-hong,QUAN Long.Control strategy of the electro-hydraulic position and speed hybrid servo system[J].Journal of Mechanical Engineering,2010,46(24):150-155.(in Chinese)
[8]吴万荣,徐胜,梁向京,等.负载口独立方向控制系统阀控策略[J].武汉大学学报:工学版,2017,50(2):274-279.WU Wan-rong,XU Sheng,LIANG Xiang-jing,et al.Strategy of controlling electrohydraulic proportional valve for separate meter-in and separate meter-out control system[J].Engineering Journal of Wuhan University,2017,50(2):274-279.(in Chinese)
[9]陈晓波,魏聪梅,丁鼎.基于装载机动臂缸负载口独立控制的仿真分析[J].太原科技大学学报,2017,38(2):121-126.CHEN Xiao-bo,WEI Cong-mei,DING Ding.Simulation analysis of independent metering control technique based on loader hydraulic system[J].Journal of Taiyuan University of Science and Technology,2017,38(2):121-126.(in Chinese)
[10]Lu L,Yao B.Energy-saving adaptive robust control of a hydraulic manipulator using five cartridge valves with an accumulator[J].IEEE Transactions on Industrial Electronics,2014,61(12):7046-7054.
[11]顾临怡,王庆丰,路甬祥.液压驱动的大惯性负载加减速特性研究[J].机械工程学报,2002,38(10):46-49.GU Lin-yi,WANG Qing-feng,LU Yong-xiang.Research on acceleration and deceleration characteristic for high inertia loads driven by hydraulic[J].Chinese Journal of Mechanical Engineering,2002,38(10):46-49.(in Chinese)
[12]Choi K,Seo J,Nam Y,et al.Energy-saving in excavators with application of independent metering valve[J].Journal of Mechanical Science and Technology,2015,29(1):387-395.
[13]徐兵,丁孺琦,张军辉.基于泵阀联合控制的负载口独立系统试验研究[J].浙江大学学报:工学版,2015,49(1):93-101.XU Bing,DING Ru-qi,ZHANG Jun-hui.Experiment research on individual metering systems of mobile machinery based on coordinate control of pump and valves[J].Journal of Zhejiang University:Engineering Science,2015,49(1):93-101.(in Chinese)
[14]Xu B,Ding R Q,Zhang J H,et al.Pump/valves coordinate control of the independent metering system for mobile machinery[J].Automation in Construction,2015,57:98-111.
[15]孙船斌,马大为,朱忠领.基于碰撞的全行程液压起竖油缸振动性能研究[J].兵工学报,2015,36(4):681-686.SUN Chuan-bin,MA Da-wei,ZHU Zhong-ling.Vibration performance of hydraulic erecting cylinder in collision at full stroke[J].Acta Armamentarii,2015,36(4):681-686.(in Chinese)
[16]姚晓光,郭晓松,冯永保,等.导弹起竖过程的载荷研究[J].兵工学报,2008,29(6):718-722.YAO Xiao-guang,GUO Xiao-song,FENG Yong-bao,et al.Load analysis on missile erection[J].Acta Armamentarii,2008,29(6):718-722.(in Chinese)
[17]张海平.液压速度控制技术[M].北京:机械工业出版社,2014.ZHANG Hai-ping.Hydraulic velocity control technology[M].Beijing:China Machine Press,2014.(in Chinese)
[18]张利平,张津.液压传动与控制[M].西安:西北工业大学出版社,2014.ZHANG Li-ping,ZHANG Jin.Hydraulic transmission and control[M].Xi'an:Northwestern Polytechnical University Press,2014.(in Chinese)