全液压矫直机位置闭环和力闭环转换策略研究

Research on Transfer Strategy of Position Closed Loop and Force Closed Loop Transformation For Full-hydraulic Leveler

基于AMEsim分别建立了全液压矫直机电液位置伺服控制模型和电液力伺服控制模型,并分别对其进行了动态仿真研究,通过调整合适的PID参数,得到了位置阶跃响应曲线和力阶跃响应曲线,明确了二者控制的优缺点。并且进一步提出了全液压矫直机的双环限幅转换策略,通过限幅器的作用,当一个环处于工作状态的时候另一个环始终处于饱和状态,最终实现双环的平稳转换。通过仿真分析,该转换策略不管是位置闭环向力闭环转换还是力闭环向位置闭环转换都可以实现平稳转换。最后在实验室两缸同步实验台上用主从同步方式验证该转换策略的可行性和有效性,该转换策略对现实的生产具有重要的指导意义。

The electro-hydraulic position servo control model and electro-hydranlic force servo control model are es- tablished respectively based on AMEsim, and the dynamic simulation is carried out. The position step response curve and the force step response curve are obtained by adjusting the appropriate PID parameters and the advanta- ges and the disadvantages of the two control methods have been given. And the double loop limit amplitude transfer strategy of the full-hydraulic leveler is further put forward, when a loop is in the working state and another loop is al- ways in the saturated state through the working of limiter,the smooth transition of the double loop is ultimately realized.The transfer strategy which whether it is that the position closed loop turns to force loop or that force closed loop turns to position closed loop can be achieved smoothly through simulation analysis. At last, the feasibility and effec- tiveness of the proposed transfer strategy is verified by using the method of master slave synchronization in the two- cylinder synchronous test rig at the laboratory, and the transfer strategy has important guiding significance to the production.