电液伺服闭式泵控系统位置前馈补偿控制研究

Position Feedforward Compensation Control of Electro-hydraulic Servo Closed Pump Control System

以电液伺服闭式泵控系统为研究对象,提高其位置控制精度及响应速度为目标,提出电液伺服闭式泵控系统位置前馈补偿控制算法。首先,对电液伺服闭式泵控系统数学模型进行推导,得出位置控制系统传递函数;其次,推导位置控制前馈补偿控制器,该控制器可依据系统运动轨迹变化实时补偿定量泵转速,实现系统高精度位置输出;最后,在电液伺服闭式泵控实验平台上,对系统的位置控制性能进行试验研究并给出定量分析。实验结果表明:前馈补偿控制器可大幅提高系统位置控制性能。研究成果将为电液伺服闭式泵控系统高精度位置控制奠定基础,对泵控技术的工程推广具有积极的意义。

Taking electro-hydraulic servo closed pump control system as the research object, this paper puts forward the position feedforward compensation control algorithm of electro-hydraulic servo closed pump control system with the aim of improving its position control precision and response speed. Firstly, the mathematical model of electro-hydraulic servo closed pump control system is deduced, and the transfer function of the position control system is obtained. Secondly, the position control input feedforward compensation controller is deduced, which includes the inherent nonlinearity of the hydraulic system and the characteristics of the load disturbance. Finally, on the electro-hydraulic servo closed pump control experimental platform, the position control performance of the system is studied experimentally and quantitative qualitative analysis is given. The experimental results show that the Feedforward compensation controller can greatly improve the position control performance of the system. The above research results will lay a certain foundation for the high precision position control of electro-hydraulic servo closed pump control system, which is of positive and important significance to the engineering popularization of pump control technology.