负载变形敏感双马达同步驱动系统建模与仿真

Modeling and Simulation of Load Deformation Sensitive Dual Hydraulic Motor Synchronizing Driving System

针对双液压马达同步驱动系统建模过程中存在负载变形考虑不足的情况,采用单弹簧、双惯量块代替单惯量模型建立负载动力学模型;与双阀控液压马达模型结合,建立可考虑负载变形的双马达同步驱动系统模型。采用压差均衡控制策略抑制阀控马达参数不一致引起的负载变形,并利用PID控制策略改善系统整体性能。运用数值仿真方法研究压差均衡控制策略对负载变形的抑制效果和PID控制参数对负载变形的影响。研究结果表明:压差均衡控制策略对阀控马达主要参数失衡引起的负载变形有明显的补偿效果,但对主要参数小范围失衡情况下系统整体性能的改善效果不明显;PID控制在改善系统整体性能的同时有可能使负载变形加剧。

In order to analyze the load deformation, a single spring dual moment inertia model was used to model the load of dual hydraulic motor synchronizing driving （DHMSD） system. Integrating with the valve controlled hydraulic motor sYstem model, a complete DHMSD system model was build up. The differential pressure balancing control algorithm was adopted to compensate the load deformation induced by the parameter asymmetry of two valve controlled hydraulic motor subsystems and the PID algorithm to improve the DHMSD system＇s global performance. The results of numerical simulation show that the differential pressure balanci^lg control algorithm is effective for load deformation compensation, but less effective for the system＇s global performance improvement, and that PID control algorithmcan improve the DHMSD system＇s global performance, but may increase the load deformation.