并联双电动缸同步控制策略研究及实现方法

Research on Synchronous Control Strategy of Electric Twin-cylinder Parallel Mechanism

随着电驱技术的发展,在中小功率应用领域电动执行系统将逐渐替代液压驱动系统,为满足静默发射需求,在某型号起竖系统中采用双电动缸解决方案,为确保导弹稳定起竖且机构变形应力最小,必须保证双缸运动保持同步。首先从同步控制策略分析2种同步方案的优劣势,并比较了绝对式编码器和增量式编码器的优缺点,然后通过试验验证速度同步策略的有效性,最后对比分析了液压双缸和电动双缸起竖的控制效果和优劣势。

With the development of electric drive technology,electric execution system will replace the hydraulic system in the mini-watt application field.To meet the demand of silent launch,in the some kind of raising vertical erection equipment,driving power is used by parallel electrical cylinder.To ensure missile erection has little deformation stress,the erection equipment must move synchronously.Two synchronous control strategies will be proposed.Firstly,the characters of two methods are compared.Meanwhile,the advantages and disadvantages between absolute encoder and incremental encoder are compared.Then,through the experiment the speed synchronous control strategy is proved to be effective.And finally the control effect of the hydraulic cylinder and the electric cylinder are compared.