基于矩阵灵敏度的电液力伺服系统特性研究

Matrix Sensitivity on Electro-hydraulic Force Servo System Characteristics

针对电液力伺服系统多参数时变特性影响系统动态性能的问题,采用矩阵灵敏度分析方法,获得力输出特性的关键影响参数。建立阀控缸力伺服系统状态方程推导矩阵灵敏度方程,并求解16维参数对输出力的灵敏度函数曲线,根据峰值灵敏度和均值灵敏度衡量方法,得到各参数变化对力输出特性的影响比率。搭建阀控缸半物理仿真试验台,验证灵敏度分析结果。实验结果表明:比例系数灵敏度指标超2%,流量增益灵敏度指标超4%,直接验证灵敏度衡量方法的有效性,间接验证液压缸有效面积和负载弹簧刚度是力输出特性的主要影响参数。

The matrix sensitivity analysis method was used to find out the key influence parameters on the force output characteristics which were influenced by the time-varying electro-hydraulic force servo system parameters.The state equation of the valve-controlled cylinder force servo system was established and the matrix sensitivity equation was derived,and then the sensitivity function curve of 16-dimensional parameters to the output force was solved,so the influence ratio of parameters on force output characteristics was obtained according to Peak Sensitivity and Mean Sensitivity.The hardware-in-loop test-bed of valve-controlled cylinder was built to verify the sensitivity analysis results.The experimental results show that:the sensitivity index of proportional coefficient is over 2%,and the sensitivity index of flow gain is over 4%,the effectiveness of sensitivity measurement method is directly verified,and the main influencing parameters of force output characteristics such as the effective area of hydraulic cylinder and load spring stiffness are indirectly verified.