液压余度舵机同步传动研究

RESEARCH ON THE SYNCHRONOUS DRIVE OF THE REDUNDANT CHANNELS FOR HYDRAULIC ACTUATOR

几个舵机驱动同一控制对象,通道间产生力的纷争,本文采用均衡网络来减轻力的纷争,而均衡网络的参数则根据解耦控制理论导出。实际系统的实验证明本文所提出的消除余度通道间力纷争保证同步传动的方案是有效的。文章给出了最优均衡网络的参数设计公式。

When a control object is synchronously drived by Several Actuators force-fight occurs among the channels. In this paper, equalization networks are adopted to solve this problem. Based on decoupling control theory, the parameters of an equalization network have been deduced. Experiments of practice system proved that the proposed mothed of this paper is effective in eliminating the force-fight and ensuring synchronous drive of redundant channels. This paper also gives the design formula of the parameters for an optimal equalization network.