电液伺服马达驱动系统的奇异摄动控制仿真研究

Simulation of Singular Perturbation Control for Electro-hydraulic Servo Drive System

为了提高电液伺服驱动系统控制精度,设计了奇异摄动控制方法,并对液压驱动系统输出结果进行仿真验证。建立电液伺服驱动系统,给出电液伺服阀原理图,并介绍电液伺服阀工作原理。创建电液伺服阀节流孔的非线性数学模型,推导出液压驱动方程式,通过最小二乘法对运动参数进行估计。利用反馈线性化技术和奇异摄动理论解决了非线性和不确定性问题。采用MATLAB软件对电液伺服驱动系统液压马达角位移、角速度和负载压力跟踪结果进行仿真,与传统PID控制结果进行对比。结果显示:采用传统PID控制系统,电液伺服驱动系统液压马达角位移、角速度和负载压力跟踪误差较大;采用奇异摄动控制系统,电液伺服驱动系统液压马达角位移、角速度和负载压力跟踪误差较小,控制系统反应速度较快,可以提高电液伺服驱动系统控制精度。

In order to improve the control accuracy of the electro-hydraulic servo drive system,the singular perturbation control method was designed,and the output results of the hydraulic drive system were verified by simulation.The electro-hydraulic servo drive system was established,the schematic diagram of the electro-hydraulic servo valve was given,and the working principle of the electro-hydraulic servo valve was introduced.The nonlinear mathematical model of the orifice of the electro-hydraulic servo valve was established,the hydraulic driving equation was derived,and the motion parameters were estimated by using the least square method.The nonlinear and uncertain problems were solved by feedback linearization and singular perturbation theory.MATLAB software was used to simulate the tracking results of the hydraulic motor angular displacement,angular velocity and load pressure of the electro-hydraulic servo drive system,and the results were compared with the traditional PID control results.The results show that the tracking errors of the angular displacement,angular velocity and load pressure of the hydraulic motor in the electro-hydraulic servo drive system are large when the traditional PID control system is adopted,and the tracking errors in the electro-hydraulic servo drive system are small when the singular perturbation control system is adopted.By using singular perturbation control system,the response speed of the control system is faster,and the control accuracy can be improved.