阀控对称液压缸先进控制策略对比研究

Comparative Study on Advanced Control Strategy of Valve Controlled Symmetric Hydraulic Cylinder

针对阀控缸系统先进控制算法理论和应用研究不足的问题,仿真研究多种控制算法在阀控对称缸液压系统控制中的应用。推导阀控对称缸的非线性微分方程,将伺服阀的动态性能考虑为一阶系统问题;进行PID、极点配置和基于反步法的自适应控制器算法的理论推导;建立阀控对称缸的功率键合图理论模型,应用上述控制算法对它进行控制效果仿真。结果表明:基于反步法的自适应控制器具有规范的设计方法和广泛的适应性,其控制效果和应用价值都优于传统控制方案。

Aiming at the insufficient of the theory and application of advanced control algorithm for the valve controlled cylinder system,the applications of various control algorithms in hydraulic system control of valve controlled symmetric cylinder were studied.The nonlinear differential equation of valve controlled symmetric cylinder was deduced,and the dynamic performance of servo valve was considered as a first-order system question;the theoretical derivations of PID,pole assignment and adaptive controller based on back stepping were carried out;a power bond graph theoretical model of the valve control symmetric cylinder was established,and the control effects were simulated by using the above control algorithms.The results show that the adaptive controller based on the back stepping has a standardized design method and wide adaptability,and its control effect and application value are greater than the tradi⁃tional control scheme.