新型低速电液伺服叶片马达的控制策略研究

Study on New Type of Low-speed Electro-hydraulic Servo Vane Motor and Its Control Strategy

介绍了一种仿真转台用新型叶片式无脉动连续回转电液伺服马达的工作原理 ,分析了拉各瑞 ( L ugre)摩擦力模型 ,给出了摩擦力模型的参数辨识方法及在系统中的补偿措施 ,同时设计具有人工智能的非线性 PID复合控制策略。通过实验 ,得到新型连续回转马达的摩擦转矩模型 ,对马达的低速及阶跃响应进行了研究。验证了采用摩擦力补偿措施有效地克服了系统的低速爬行及极限环振荡现象 ,使马达的性能完全符合仿真转台的需要。

This paper introduces the working principle of a new type of no-pulsation continuous rotary electro-hydraulic servo vane motor applied to simulator. The Lugre friction model used in this paper fits the requirements for friction compensation of the hydraulic system because it can describe complex friction behavior, and two step off-line identification methodology of the Lugre parameters has been proposed. Besides ,in this paper a compound control strategy is developed,which comprises non-linear PID,differential forward feedback . Experimental results proved that using friction compensation,the stick-slip motion at the low-speed can be eliminated and this servomotor can be applied to a simulator.