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浙江大学学报(工学版)
浙江大学学报(工学版)
机械与电气工程     
泵控非对称液压缸系统高精度位置控制方法
王玄, 陶建峰, 张峰榕, 吴亚瑾, 刘成良
上海交通大学 机械与动力工程学院,上海 200240
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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摘要：
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.
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.
出版日期: 2016-04-01
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基金资助:

国家自然科学基金资助项目（51375297，51275288）；上海市优秀学术带头人计划资助项目(14XD1402000)；国家“863”高技术研究发展计划资助项目(2012AA041803)；长安大学高速公路施工机械陕西省重点实验室开放基金资助项目(2014G1502044).
通讯作者: 陶建峰,男,副教授.ORCID: 0000 0001 6098 9779.     E-mail: jftao@sjtu.edu.cn
作者简介: 王玄（1992—）,男,硕士生,从事电液伺服控制的研究.ORCID: 0000 0002 0722 2234. E-mail: wxasqy123@163.com
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引用本文:

王玄, 陶建峰, 张峰榕, 吴亚瑾, 刘成良. 泵控非对称液压缸系统高精度位置控制方法[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2016.04.001.

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), 10.3785/j.issn.1008-973X.2016.04.001.

链接本文:

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

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