协调控制同步策略在液压仿真转台中的应用

Application of Synchronization Strategy in Hydraulic Simulator Based on Coordinated Control

针对液压仿真转台中框同步驱动系统的特点,提出一种基于协调控制的同步控制策略。为保证转台中框的性能,首先,对两同步通道分别进行设计,使其具有良好的并尽量一致的静、动态特性;其次,为克服液压伺服系统参数的时变性对同步系统造成的不利影响,在两通道间加入一个模糊控制器,通过该控制器的调节作用可使两同步子系统的输出基本保持一致,以实现同步的目的。实验结果表明本文所提出的同步控制策略具有较高的同步精度,对仿真转台中框的同步驱动系统来说是完全有效的。

A synchronization control strategy is presented based on coordinated control according to the electrohydraulic servosystem's nonlinear characteristic in hydraulic simulator. For the performance of hydraulic simulator's middle gimbal, the two synchro-driven passages were designed separately in order to have high and same static and dynamic characteristic as possible. A fuzzy controller was used between the two synchro-driven passages in order to overcome the unfavorable influence upon synchro-driven system caused by parameters' variety of the hydraulic servosystem. By the fuzzy controller, the output of the two synchro-driven passages were approximately equal and the purpose of synchronization control could be realized. The experimental results show that the proposed approach possesses high synchronization accurate and can be used in synchro-driven system of hydraulic simulator.