阀控非对称缸被动加载系统中多余力的抑制

Restrain of Surplus Force for Passive Loading System of Valve Controlled Asymmetric Hydraulic Cylinder

从系统的力传递函数出发,分析了阀控非对称缸被动加载系统中多余力的存在对系统加载性能的影响,此多余力经结构不变性原理补偿后在低频段可以很好地被消除,但由于在高频段滞后现象加重,多余力对加载系统的影响仍然存在。针对这一问题提出了采用最优二次型抑制多余力的控制方法,将系统的力传递函数经最优二次型控制理论优化设计并仿真后发现,在结构不变性原理的基础上采用最优二次型的控制方法可以使阀控非对称缸被动加载系统中的多余力在高频段得到较好的抑制,提高了系统的加载性能。

Started from the force transfer function of system,it was analyzed of the surplus force＇s influence to the passive loading system of valve controlled asymmetric cylinder. The surplus force could be eliminated availably by structure-invariable principle compensation in the low frequency band. However,the influence of force was still existed in the high frequency band with lag phenomenon.Pointing out the problem,optimum quadratic control method which used to restrain the force was proposed. Force transfer function of the system was designed optimally and simulated. It is found that the force can be well restrained in the high frequency band with optimum quadratic control theory based on the structure-invariable principle,and the loading performance of the system is improved.