电液伺服液压执行机构高精度位置伺服控制研究

Research on High Precision Position Servo Control for Electro-hydraulic Servo Hydraulic Actuator

鉴于电液伺服阀控机构在液压控制系统的重要性,其位置伺服系统动态复杂多变,传统的PID位置伺服控制算法无法满足控制要求,该文以液压阀控缸执行机构为例,提出了一种基于鲁棒滑模控制算法,提高了传统液压缸执行机构位置精度,使得系统具有较强的抗干扰能力。首先,对液压执行机构组成结构和系统原理进行阐述;然后根据原理图建立执行机构理论数学模型,并设计了鲁棒滑模控制器(SMC);最后,搭建液压执行机构实验平台,将滑模控制算法和传统PID控制算法进行位置控制实验,对比分析两者位置伺服控制响应速度和控制精度,实验结果表明本文设计的滑模控制算法的正确性和有效性,为今后液压执行机构位置控制上提供参考。

In view of the importance of the electro-hydraulic servo valve control mechanism in the hydraulic control system,its position servo system is dynamic and complex,and the traditional PID position servo control algorithm can't meet the control requirements.In this paper,taking the hydraulic valve control cylinder actuator as an example,a robust sliding mode control algorithm is proposed,which improves the position accuracy of the traditional hydraulic cylinder actuator,and makes the system have strong dry resistance Disturbing ability.Firstly,the structure and system principle of the hydraulic actuator are described;then,the theoretical mathematical model of the actuator is established according to the schematic diagram,and the robust sliding mode controller is designed;finally,the experimental platform of the hydraulic actuator is built,and the sliding mode control algorithm and the traditional PID control algorithm are used in the position control experiment,and the response speed and control precision of the two position servo control are compared and analyzed The experimental results show that the sliding mode control algorithm designed in this paper is correct and effective,which provides reference for the position control of hydraulic actuator in the future.