摘要
针对伺服作动器动态性能测试需求,充分发挥电动加载便于安装维护、控制灵活以及直线电机高动态特性的优势,提出由直线电机驱动增力模块,通过机液融合的方式实现小位移、大推力、高频响的动态加载方案。在建立加载系统与伺服作动器系统数学模型的基础上,为提高力加载精度、改善系统稳定性和响应速度,引入多环级联控制与前馈控制的复合控制方案,并基于结构不变性原理通过前馈补偿抑制多余力。MATLAB/Simulink仿真结果表明:提出的伺服作动器动态加载方案与控制策略能够有效改善系统加载性能和抑制多余力,具有良好的工程参考价值。
Aiming at the requirements of dynamic performance test of servo actuator,giving full play to the advantages of electric loading,such as easy installation and maintenance,flexible control and high dynamic characteristics of linear motor,a scheme of the booster module driven by a linear motor was proposed to realize small displacement,large thrust force and high-frequency dynamic loading program.Based on the mathematic model of the loading system and the servo actuator system,a composite control scheme based on multi-loop control and feedforward control was introduced to improve the force loading accuracy,stability and response speed of the system,the feedforward compensation scheme based on the invariance principle was used to restrain the redundant force.The simulation results of MATLAB/Simulink show that the dynamic loading control scheme of servo actuator can effectively improve the dynamic loading performance,restrain the redundant force and has good engineering reference value.
作者
朱国华
游有鹏
荣亮
杨雪峰
ZHU Guohua;YOU Youpeng;RONG Liang;YANG Xuefeng(College of Mechanical and Electronic Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 210016,China)
出处
《机床与液压》
北大核心
2019年第7期136-141,共6页
Machine Tool & Hydraulics
关键词
直线电机
增力模块
结构不变性原理
多余力
Linear motor
Booster module
Structural invariance principle
Redundant force
