基于导纳控制算法的电液比例系统联合仿真研究

Co-simulation Study of Electro-hydraulic Proportional System Based on Admittance Control Algorithm

为了满足某液压机器人对于特殊工况下的混凝土振捣需求,设计了基于导纳算法的柔顺控制器。以电液比例阀控缸系统为研究对象,建立了系统的动态数学模型,并利用MATLAB、AMESim和Simcenter 3D软件各自优势,搭建了一种多学科融合的机电液一体化联合仿真平台,对电液比例阀控缸系统进行了弹簧阻尼负载和刚性碰撞2种不同工况下的多算法联合对比仿真分析。结果表明,设计的导纳柔顺控制器使得电液比例系统具备了对环境刚度的快速响应能力,导纳算法可根据实际负载力对内环位置控制器的位移信号进行及时修正,有效避免剧烈的刚性碰撞,体现良好的柔顺性和鲁棒性。

In order to meet the requirements of a hydraulic robot for concrete vibrating under special working conditions,a compliance controller based on admittance algorithm is designed.Taking the electrohydraulic proportional valve-controlled cylinder system as the research object,a dynamic mathematical model of the system is established,and a multidisciplinary integration of mechatronics and hydraulics integrated simulation platform is built by using the respective advantages of MATLAB,AMESim and Simcenter 3D software.The electrohydraulic proportional valve-controlled cylinder system is subjected to a multialgorithm joint comparative simulation analysis under two different working conditions of spring damping load and rigid collision.The results show that,the designed admittance compliant controller makes the electrohydraulic proportional system have a quick response to the environmental stiffness,and the admittance algorithm can control the inner loop position controller according to the actual load force.The displacement signal is corrected in time,which effectively avoids severe rigid collision,shows good flexibility and robustness.