电液伺服系统多余力补偿及数字控制策略研究
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摘要
电液伺服系统具有响应快、精度高、传递功率大的特点,广泛应用于国防工业及国民经济各个领域,电液伺服系统的协同控制是其中一类重要应用。电液伺服对顶协同控制系统的工作原理与飞行器设计的重要地面实验设备——负载模拟器相同,多余力是对顶协同控制系统中的重点及难点问题。本文以电液伺服对顶协同控制系统为研究对象,运用电液伺服数字控制技术,主要针对小力值加载的多余力的补偿问题进行研究。
本文总结了国内外学者对多余力的补偿方法,对电液力系统的控制策略进行了综述,在此基础上,根据对顶协同控制系统结构及运动特点,分析并提出了多余力等对顶协同控制中的关键问题,确定了本论文主要研究内容和目标。
根据对顶协同控制系统工作原理和过程,进行了解析建模和系统辨识建模的方法研究,充分考虑到伺服阀阀口非线性、液压缸泄漏和摩擦等非线性因素,建立了对顶协同控制系统的功率键合图模型。并进行了对顶同步位置、力加载系统时域仿真、频域计算和键合图仿真研究。对多余力的产生机理进行深入分析,对其工作特点进行研究,针对多余力及其补偿策略进行了键合图仿真验证。
结构不变性补偿(SIC)方法根据活塞的运动速度计算补偿流量,进而补偿对顶协同控制系统中的多余力,是研究多余力补偿的理论基础。ISIC控制策略改进了SIC方法,在理论上解决了速度估计中的不确定因素,可有效实现多余力的补偿。基于迭代学习的ISIC控制,是智能化的ISIC控制,实现了ISIC参数的自动优化和整定。实验研究结果表明,模型研究是正确的,基于迭代学习的ISIC控制有效补偿了多余力。
针对对顶协同控制系统中的位置控制机构,提出辨识零相差跟踪控制方法,在控制策略中依据系统辨识的结果,在闭环系统之外设计动态补偿环节,通过对消闭环系统零极点的方法来改善位置系统的动态性能。
最后,基于数字控制器的要求,研制了基于工业控制计算机和以太网的主从式网络拓扑结构的控制器,采用WinCE嵌入式操作系统提高系统的可靠性,采用Matlab/RTW和VC++混合编程技术,提高控制策略的开发效率,将前述的各种控制策略予以实现,达到了预期的结果。
Electro-hydraulic servo system is widely used in various areas of national defense industry and national economy,with the fast response,high precision and powerful transmission.Cooperative control of electro-hydraulic servo system is a kind of important application among them.The principle of electro-hydraulic servo opposing cooperation control system is the same as the one of load simulator,which is the important ground experiment equipment for air vehicle design.The emphasis and difficulty of opposing cooperation control system is extraneous force.Electro-hydraulic servo opposing cooperation control system is made to be the research object.Based on digital control and its compensative technique of electro-hydraulic servo system, extraneous force is studied mainly as small force loaded.
Domestic and foreign compensative methods of extraneous force are summarized. Electro-hydraulic force control scheme is comprehensively discussed.According to structure and motion feature of opposing cooperative control,the key problems of opposing cooperative control such as extraneous force are analyzed and provided firstly, and the main subjects and targets are drafted.
Analytical and identifiable modeling methods are studied based on working principle and procedure of opposing cooperative control.Considering the nonlinear factors on the servo valve such as leakage of the cylinder and friction,power bond graph model is founded.Time domain,fi'equency domain and bond graph simulations of the position and force system are studied.Generating reasons of extraneous force are analyzed deeply,and characters of extraneous force are studied.Extraneous force and regulations are simulated and verified.
Structure invariance compensation(SIC) method is the theoretical basis of extraneous force compensation.SIC calculates compensating flow according to speed of piston for extraneous force compensation in opposing cooperative control.Improved structure invariance compensation(ISIC) control scheme solves the uncertain factors in velocity estimation theoretically.ISIC compensates extraneous force effectively. Iterative learning ISIC is an intelligent ISIC control,which realizes the parameters optimization and tuning automatically for ISIC controller.Experiment results show modeling studies are correct,and Iterative learning ISIC compensates extraneous force effectively.
Identifiable ZPETC algorithm is provided for position system of opposing cooperative control system.According to the results of system identification,dynamic compensation is designed in front of close loop.Identifiable ZPETC improves the dynamic performance of position system by zeros and poles cancellation.
According to the request of digital controller,the controller based on principal-subordinate network topology structure including industry control computer and Ethernet is studied.The embedded operation system WinCE is adopted in the controller to improve the reliability of this control system.Matlab/RTW and VC++ mix-programmed technique is used to increase developing efficiency of control scheme. The control program implements the before-mentioned control schemes and achieves expectant results.
本文总结了国内外学者对多余力的补偿方法,对电液力系统的控制策略进行了综述,在此基础上,根据对顶协同控制系统结构及运动特点,分析并提出了多余力等对顶协同控制中的关键问题,确定了本论文主要研究内容和目标。
根据对顶协同控制系统工作原理和过程,进行了解析建模和系统辨识建模的方法研究,充分考虑到伺服阀阀口非线性、液压缸泄漏和摩擦等非线性因素,建立了对顶协同控制系统的功率键合图模型。并进行了对顶同步位置、力加载系统时域仿真、频域计算和键合图仿真研究。对多余力的产生机理进行深入分析,对其工作特点进行研究,针对多余力及其补偿策略进行了键合图仿真验证。
结构不变性补偿(SIC)方法根据活塞的运动速度计算补偿流量,进而补偿对顶协同控制系统中的多余力,是研究多余力补偿的理论基础。ISIC控制策略改进了SIC方法,在理论上解决了速度估计中的不确定因素,可有效实现多余力的补偿。基于迭代学习的ISIC控制,是智能化的ISIC控制,实现了ISIC参数的自动优化和整定。实验研究结果表明,模型研究是正确的,基于迭代学习的ISIC控制有效补偿了多余力。
针对对顶协同控制系统中的位置控制机构,提出辨识零相差跟踪控制方法,在控制策略中依据系统辨识的结果,在闭环系统之外设计动态补偿环节,通过对消闭环系统零极点的方法来改善位置系统的动态性能。
最后,基于数字控制器的要求,研制了基于工业控制计算机和以太网的主从式网络拓扑结构的控制器,采用WinCE嵌入式操作系统提高系统的可靠性,采用Matlab/RTW和VC++混合编程技术,提高控制策略的开发效率,将前述的各种控制策略予以实现,达到了预期的结果。
Electro-hydraulic servo system is widely used in various areas of national defense industry and national economy,with the fast response,high precision and powerful transmission.Cooperative control of electro-hydraulic servo system is a kind of important application among them.The principle of electro-hydraulic servo opposing cooperation control system is the same as the one of load simulator,which is the important ground experiment equipment for air vehicle design.The emphasis and difficulty of opposing cooperation control system is extraneous force.Electro-hydraulic servo opposing cooperation control system is made to be the research object.Based on digital control and its compensative technique of electro-hydraulic servo system, extraneous force is studied mainly as small force loaded.
Domestic and foreign compensative methods of extraneous force are summarized. Electro-hydraulic force control scheme is comprehensively discussed.According to structure and motion feature of opposing cooperative control,the key problems of opposing cooperative control such as extraneous force are analyzed and provided firstly, and the main subjects and targets are drafted.
Analytical and identifiable modeling methods are studied based on working principle and procedure of opposing cooperative control.Considering the nonlinear factors on the servo valve such as leakage of the cylinder and friction,power bond graph model is founded.Time domain,fi'equency domain and bond graph simulations of the position and force system are studied.Generating reasons of extraneous force are analyzed deeply,and characters of extraneous force are studied.Extraneous force and regulations are simulated and verified.
Structure invariance compensation(SIC) method is the theoretical basis of extraneous force compensation.SIC calculates compensating flow according to speed of piston for extraneous force compensation in opposing cooperative control.Improved structure invariance compensation(ISIC) control scheme solves the uncertain factors in velocity estimation theoretically.ISIC compensates extraneous force effectively. Iterative learning ISIC is an intelligent ISIC control,which realizes the parameters optimization and tuning automatically for ISIC controller.Experiment results show modeling studies are correct,and Iterative learning ISIC compensates extraneous force effectively.
Identifiable ZPETC algorithm is provided for position system of opposing cooperative control system.According to the results of system identification,dynamic compensation is designed in front of close loop.Identifiable ZPETC improves the dynamic performance of position system by zeros and poles cancellation.
According to the request of digital controller,the controller based on principal-subordinate network topology structure including industry control computer and Ethernet is studied.The embedded operation system WinCE is adopted in the controller to improve the reliability of this control system.Matlab/RTW and VC++ mix-programmed technique is used to increase developing efficiency of control scheme. The control program implements the before-mentioned control schemes and achieves expectant results.
引文
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