基于S7-300的比例阀控液压缸的PID静态补偿控制
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摘要
分别建立对称阀控非对称液压缸在有杆腔进油和活塞腔进油时的数学模型,使用MATLAB/Simulink分析液压系统在这两种进油情况下的动静态特性,结果表明,液压系统在两种进油情况下系统超调量、调节时间、振荡次数等几个方面存在较大差异。为补偿系统这种非对称性,以S7-300PLC作为控制器的基础上提出了PID静态补偿控制策略。在疲劳加载试验台上对这一控制策略进行试验验证,试验结果表明,采用PID静态补偿策略很大程度上提高了系统的响应速度及精度。
The mathematic model of the asymmetrical cylinder controlled by symmetric valve is established respectively in the both cases of oil inlet from the rod chamber and oil inlet from the piston chamber.MATLAB/Simulink is introduced to analyze the static and dynamic characteristics of the hydraulic system in both conditions,the result shows that there exists great difference on system overshoot,settling time,oscillation frequency and other aspects of the hydraulic system under this two conditions.To compensate system's asymmetry characteristics,the PID static compensator control strategy is proposed on the basis of S7-300 PLC as the controller.This control strategy has been tested on the fatigue loading test rig,the test results show that using the static PID compensation strategy can greatly improve the response speed and accuracy of the system.
The mathematic model of the asymmetrical cylinder controlled by symmetric valve is established respectively in the both cases of oil inlet from the rod chamber and oil inlet from the piston chamber.MATLAB/Simulink is introduced to analyze the static and dynamic characteristics of the hydraulic system in both conditions,the result shows that there exists great difference on system overshoot,settling time,oscillation frequency and other aspects of the hydraulic system under this two conditions.To compensate system's asymmetry characteristics,the PID static compensator control strategy is proposed on the basis of S7-300 PLC as the controller.This control strategy has been tested on the fatigue loading test rig,the test results show that using the static PID compensation strategy can greatly improve the response speed and accuracy of the system.
引文
[1]蒙争争.四通阀控非对称液压缸传递函数的分析和建立[J].合肥学院学报(自然科学版),2006,16(2):23-27.
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[4]岳东海.阀控非对称缸电液伺服系统中控制策略研究[J].常州信息职业技术学院学报,2006,5(1):39-42.
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[10]王正林,王胜开.MATLAB/Simulink与控制系统仿真.北京:电子工业出版社,2005.
[2]Vossoughi G,Donath M.Dynamic feedback linearization for electrohydraulically actuated control systems[J].Journal of Dynamic Systems,Measurement and Control,1995,117(4):468-477.
[3]肖晟,强宝民.基于对称四通阀控非对称液压缸的电液比例位置控制系统建模与仿真[J].机床与液压,2009(6):95-97.
[4]岳东海.阀控非对称缸电液伺服系统中控制策略研究[J].常州信息职业技术学院学报,2006,5(1):39-42.
[5]张晓宁,王岩,付永领.非对称液压缸对称性控制[J].北京航空航天大学学报,2007,33(11):1134-1139.
[6]张业建,李洪人.阀控非对称缸电液伺服系统控制策略研究[J].中国机械工程,1999,10(10):1172-1175.
[7]Niksefat N,Sepehri N.Fault tolerant control of electrohydraulic servo positioning systems[C]//American Control Conference,2001.Proceedings of the 2001,IEEE,2001.
[8]王传礼,许贤良.阀控非对称液压缸机构建模探讨[J].矿山机械,1998(7):66-68.
[9]王春行.液压伺服控制系统[M].北京:机械工业出版社,1981.
[10]王正林,王胜开.MATLAB/Simulink与控制系统仿真.北京:电子工业出版社,2005.