电液位置伺服系统中间隙的双缸联动全补偿方法

Full compensation of clearance in electro-hydraulic position servo system by means of double-cylinder linkage

针对电液位置伺服系统中液压缸与负载球铰连接处的间隙会导致系统动态性能变差、超调量增加和稳态误差增大,甚至诱发极限环震荡的问题,提出在负载端设置补偿液压缸,与主动缸形成双缸联动的驱动结构,补偿缸对负载施加与主动缸方向相反的力,使负载与主动缸始终紧压在间隙的一侧,以达到完全补偿系统中间隙的方法.利用AMESim软件进行的建模和仿真分析表明,此方法从结构上完全补偿了系统中的间隙.

Aimed at the problems occurred at the connection of the hydraulic cylinder with the load ball hinge joint in a electro-hydraulic position servo system,where the clearance at the connection may lead to worsening of system dynamic performance increasing of overshoot and steady-state error,and induce even the limit cyclic oscillation,it is proposed that a compensation hydraulic cylinder can be set at the load side and a structure of double-cylinder linkage parallel to the active cylinder will form.The compensation hydraulic cylinder apply an opposite force on the load,making both the active hydraulic cylinder and load always pressed onto the clearance side and completely compensating the clearance in the system.It is shown by system modeling and simulation with software AMESim that by using this method the clearance in the system can be completely compensated.