液压伺服双环控制系统的在线仿真

Online Simulation of Hydraulic Servo Double Loop Control System

针对过去液压伺服系统中双环独立且压力环开环工作存在的不足,提出了一种压力、位置双环协调控制的液压伺服系统且在双环自动切换时能够实现无扰切换的方法。关键技术是从液压缸引入压力反馈形成压力闭环与位置闭环形成双环控制,采用限幅饱和的方法实时比较压力和位置给定信号,进入饱和的环退出工作,退出饱和的环投入工作,这样就实现了双环无扰自动切换,且两个环始终是一个环处于饱和状态而另一个环工作,从而实现双环协调工作。通过在dSPACE实时仿真平台进行了仿真分析,说明了该方法的可行性和有效性。

A new method of implementing bumpless transfer of two loops in the hydraulic servo control system is presented, aiming at the deficiency of the double loops working independently and open loop of pressure in the servo system. Its key technology is adding the feedback of pressure to build double loops working in phase with position loop, and adopting the method of saturation to compare the signals of pressure with position, which can ensure that one loop is working and the other is in the saturation state. Thereby, this method can achieve the purpose of two loops transferring automatically and working with bumpless. Simulation on dSPACE real - time simulation platform confirmed its effectiveness and feasibility.