伺服缸新型支撑结构控制系统的联合仿真研究

Co-simulation Research for Control System of New Support Mechanism of Servo Cylinder

在特定工况中,大型重载伺服缸常卧式铰接安装,输出曲线力。为了提高伺服缸频响特性、稳定工作并延长其使用寿命,在伺服缸端底铰接了一个支反力小液压缸支撑结构及配备控制系统。在伺服缸做功时,外接控制系统需要保证压力与位置同时达到系统要求,得到精确控制。针对所需工况,设计一种压力-位置双闭环独立PID伺服控制系统。通过对压力-位置双闭环控制系统进行分析,推导出该系统的数学模型,并用李雅普诺夫第二法分析其稳定性,验证该系统的合理性与有效性。在此基础上,运用AMESim/MATLAB进行联合仿真,证明该控制系统的可行性及可靠性,从而实现压力与位置的同步精确控制。

In particular situation,large heavy-duty servo cylinder is often horizontal articulated installed and outputs curve force.In order to improve the servo cylinder frequency response characteristics,stabilize the work and extend its service life,a servo cylinder is hinged with the support mechanism of a small hydraulic cylinder,which is equipped with control system,in the bottom.When the servo cylinder is working,the external control system must ensure that both the pressure and the location meet requirements of the system,to get precise control.For the required conditions,the servo control system of a double closed-loop independent PID based on pressure-position was designed.Through the analysis of double closed-loop control system of pressure-position,the mathematical model of the system was deduced and its stability was analyzed by using Lyapunov’s second method,to verify its rationality and effectiveness.Above all,the feasibility and reliability of the control system were proved by using the co-simulation of AMESim and MATLAB,thus precise control for synchronization of the pressure and position was achieved.