变质量液压位置控制系统动态特性及控制研究

Research on Dynamic Characteristics and Control of Hydraulic Displacement System of Variable Mass

针对大型液压固定式破碎机位置控制系统参数多变的特点,建立了破碎机大臂液压位置控制系统的数学模型,分析了其等效质量、固有频率和阻尼比与大臂、二臂位姿的关系,研究了传统PID和基于指数趋近率的滑模变结构控制算法的控制效果。仿真结果表明:基于指数趋近率的滑模变结构控制算法响应速度快,鲁棒性强,控制性能优于传统PID控制。

Aimed at vaired characteristics of the displacement control system parameters of a large type of fixed hydraulic crusher,the mathematic model of the contol system of boom of the crusher was established. The relationship between its equivalent mass,natural frequency,damping ratio and orientation of boom,secondary arm was analyzed. The controlling effects were researched of traditional proportion integration and differential( PID) control and the sliding mode variable structure control algorithm based on exponential approaching rate. Simulation results show that the sliding mode variable control algorithm based on exponential approaching rate responses quickly and is of strong robustness capacity,and much better than the traditional PID control in performance.