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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
Mechanical and Electrical Engineering     
Precision position control of pump controlled asymmetric cylinder
WANG Xuan, TAO Jian feng, ZHANG Feng rong, WU Ya jin, LIU Cheng liang
School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China
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Abstract  
 A three order state space model with constraints was proposed to describe the system based on the flow continuity equation and the force balance equation after analyzing the operating principle and characteristics of the system in order to realize the non overshooting position control of unidirectional proportional pump controlled asymmetric cylinder system on the designed platform. A design of model predictive controller applicable to this model was proposed based on model predictive control theory and QPhild quadratic optimization algorithm in order to guarantee its non overshooting output. Experimental results indicated that the proposed method successfully resolved the overshooting problem without introducing nonlinear characteristics caused by switching the valve. Then the aim of high precision position control under multiple constraints was realized.

Published: 01 April 2016
CLC:     
  TH 137  
  TP 271  
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WANG Xuan, TAO Jian feng, ZHANG Feng rong, WU Ya jin, LIU Cheng liang. Precision position control of pump controlled asymmetric cylinder. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2016, 50(4): 597-602.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2016.04.001     OR     http://www.zjujournals.com/eng/Y2016/V50/I4/597


泵控非对称液压缸系统高精度位置控制方法

针对已开发的单向比例泵控非对称液压缸系统实验平台,为了实现该类系统的无超调位置控制,通过分析系统的工作原理及特性,基于系统的流量连续性方程和力平衡方程,提出采用带约束的三阶状态空间模型来描述单向比例泵控非对称液压缸系统的方法.基于模型预测控制理论和QPhild二次优化算法,设计适用于该模型的模型预测控制器来保证系统的无超调位置输出.实验结果表明,运用模型预测方法能够避免换向阀切换引入的系统非线性,有效地解决泵控非对称液压缸系统的超调问题,实现多约束条件下的高精度位置控制.
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