运用PID算法的电液伺服位置控制系统实验

Experiment of electro-hydraulic servo position control system based on PID algorithm

为了研究电液伺服位置控制系统,搭建了泵控缸位置测试试验台,将液压缸活塞行程分为三段,采用PID算法分别对每段行程进行控制。设定液压缸目标位移值为180mm,通过不断调节每段PID参数,得到最优分段点,并进行位置控制测试研究。对液压缸位移信号和泵输出流量、压力数据进行采集并分析,发现可将位置误差控制在±0.03mm内。最高位置精度可达±0.01mm,达到目标位置时间约为2.8s。系统保压时,泵输出流量为0,无溢流损失。结果表明,采用分段PID控制方法可实现对电液伺服位置测试系统的精确性、快速性和稳定性控制,但过大的比例、积分参数会导致位移超调。

In order to research electro-hydraulic servo position control system, pump-control cylinder position test-bed is founded. The cylinder piston displacement is divided into three parts, on which PID algorithm is carried out respectively. Cylinder piston target displacement value is set to 180mm. Optimal segmented points are got by adjusting each segmented PID parameters continu- ously, and position control measurement is conducted. Through collecting and analyzing the data of cylinder piston displacement and flow and pressure of the pump outputs,it discovers that position error can be controlled within ±0.03mm. The best position preci- sion can reach to ±0.01mm,and stable time is about 2.8s. The output flow of the pump is 0 and there is no overflow during system packing. The results show that segmented PID control method can realize accurate, rapid and stable control in electro-hydraulic servo position control system, but oversize parameters of proportion and integration can lead to overshoot of the displacement.