摘要
针对阀控非对称缸系统,分别推导了液压缸正反向运动时的状态方程,并最终统一成一个非线性模型。通过仿真和试验,验证了模型的准确性。在此基础上,采用非线性控制理论中的输入／输出精确线性化方法,通过非线性状态反馈变换获得了全局线性化模型,并对系统零动态稳定性进行了分析。该研究对采用线性控制理论实现液压伺服系统的高精度位置跟踪控制有一定的帮助。
The state equations is deduced for the valve controlled asymmetrical cylinder system when the cylinder moving forward and reverse, and one nonlinear model is finally integrated. The model proves correcly through simulation and experiment. On the basis of the mentioned work, adopting input-output accurate linearization in nonlinear control theory, the global linear model is achieved by nonlinear state feedback transforming, and the stability of it＇s zero dynamic state is analyzed. This research is available for realizing high accuracy hydraulic servo system＇s position control by adopting the linear control theory.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2006年第5期203-207,共5页
Journal of Mechanical Engineering
基金
国防预研基金资助项目(413180802)。
关键词
阀控非对称缸
非线性
全局线性化模型
零动态
Valve controlled asymmetrical cylinder
Nonlinear
Global linear model
Zero dynamic state
