柔性联接CMAC控制电液伺服系统位置跟踪研究

Exploring Position Tracking of Electro-hydraulic Servo System with Flexible Connection CMAC Control

电液位置伺服系统由于响应速度快,功率体积比大,干扰抑制强等优点,在大惯量重载荷场合应用极其广泛。在大惯量情况下考虑柔性联接因素对电液位置伺服系统响应的稳定性和精度影响相当重要;通过机理建模的方法推导出包含负载弹性及负载与液压缸输出端柔性联接的非线性动力系统传递函数模型,对非线性动力系统传递函数模型进行模拟仿真和实验验证,进而分析柔性联接处弹性刚度对系统动态响应的影响。结果表明:考虑柔线联接机构时系统前期动态响应有延迟,但趋于稳定后控制精度和稳定性有所改善;对含柔性联接非线性动力系统的传递函数模型进行基于常规PID控制方法和CMAC算法控制器的实验验证可知,考虑柔性联接处弹性刚度的机理模型更加符合大惯量实际工况,CMAC算法控制器可以对柔性联接电液位置伺服系统中的参数进行优化,可提高电液位置伺服系统的跟踪性能。

An electro-hydraulic position servo system is widely used in large inertia and heavy load systems.Due to its fast response speed,large power-to-volume ratio and strong interference suppression ability,in the case of large inertia operation,it is important to consider the influence of flexible connection on the stability and accuracy of the response of the electro-hydraulic position servo system.We simulate the frequency transfer and time domain of the transfer function model of the nonlinear dynamic system and then analyze the influence of elastic stiffness on the performance of the servo system at the flexible joint.The results show that its dynamic response is delayed when the flexible wire connection mechanism is considered but that the control accuracy and stability are improved after stabilization.The transfer function model of the nonlinear dynamic system with flexible connection is experimentally verified with the conventional PID control method and the controller of the cerebellar model articulation control(CMAC)algorithm.The experimental results show that the transfer function model that considers the elastic stiffness of the flexible connection is more in line with the actual conditions of the large inertia.The CMAC algorithm controller can optimize the parameters of the electro-hydraulic position servo system with flexible connection and improve the position tracking performance of the electro-hydraulic position servo system.