Please wait a minute...
浙江大学学报(工学版)
J4  2013, Vol. 47 Issue (5): 755-760    DOI: 10.3785/j.issn.1008-973X.2013.05.003
机械工程     
大型装备多轴电液执行器同步控制
魏建华,国凯,熊义
浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027
Synchronized motion control for multi-axis electro-hydraulic system of large equipment
WEI Jian-hua, GUO Kai, XIONG Yi
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
 全文: PDF  HTML
摘要：

为提高大型装备多轴电液执行器的同步精度,建立运动系统的动态数学模型,提出一种主从同步控制方案.它由前馈控制器,卡尔曼滤波器以及PI反馈控制器组成.与位移微分并滤波相比,卡尔曼滤波器可以在噪声环境下获得平滑且相位滞后小的速度估计；前馈控制可加快系统的响应速度；采用PI控制器可以抑制模型不确定性以及负载变化对同步性能的影响.在Matlab/Simulink环境下,比较分析2种速度估计方法以及3种同步控制方法的性能.仿真结果表明,该方法响应快速并且具有较强的抵抗噪声干扰的能力.将该方法应用于实际系统中,实验结果表明,该方法具有较好的动态性能,并且能够有效克服噪声以及负载变化的影响；同步精度有效控制在±2 mm之内.
Abstract:

To improve synchronization accuracy of large equipment multi-axis electro-hydraulic actuators, dynamic mathematical model of the system was derived and a master-slave synchronization algorithm which constituted of a feedforward controller, a Kalman filter and a proportional-integral (PI) controller was proposed. Compared with differentiation of displacement signal plus filtering, Kalman filter could obtain smooth and less phase-lag velocity signal in noisy conditions|feedforward controller could accelerate the response of the system and PI controller helped to suppress the influence of model uncertainty and varying load. These two kinds of velocity estimation algorithm and three different controllers were evaluated within Matlab/Simulink. Simulation results show that this algorithm proposed in this paper responds quickly and is not sensitive to noise. Experimental results demonstrate that this controller has a good dynamic performance and can suppress noise and load variation effectively|synchronization error is limited within ±2 mm.
出版日期: 2013-05-01
:  TH 137  
基金资助:

国家自然科学基金创新研究群体科学基金资助项目（51221004）.
作者简介: 魏建华(1965-)，男，教授，从事电液控制理论及其工程应用研究. E-mail: jhwei@sfp.zju.edu.cn
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

魏建华,国凯,熊义. 大型装备多轴电液执行器同步控制[J]. J4, 2013, 47(5): 755-760.

WEI Jian-hua, GUO Kai, XIONG Yi. Synchronized motion control for multi-axis electro-hydraulic system of large equipment. J4, 2013, 47(5): 755-760.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2013.05.003    或    http://www.zjujournals.com/eng/CN/Y2013/V47/I5/755

［1］ 杨征瑞. 液压伺服控制［M］. 陕西：冶金工业出版社,1992:104-114．
［2］ YANG Hua-yong, SHI Hu, GONG Guo-fang, et al. Electro-hydraulic proportional control of thrust system for shield tunneling machine ［J］. Automation in Construction, 2009, 18(7): 950-956．
［3］ 倪敬,项占琴,潘晓弘,等.钢管捆自动成形系统电液比例控制研究［J］.浙江大学学报：工学版,2006,40(6)：932-936．
NI Jing, XIANG Zhan-qin, PAN Xiao-hong, et al. Electro-hydraulic proportional control for steel pipe auto-shaping system ［J］. Journal of Zhejiang University: Engineering Science, 2006, 40(6): 932-936．
［4］ 倪敬,项占琴,潘晓弘,等.多缸同步提升电液系统建模和控制［J］.机械工程学报,2006,42(11)：8187．
NI Jing, XIANG Zhan-qin, PAN Xiao-hong, et al. Motion synchronization modeling and control for multi-cylinder electro-hydraulic elevators system ［J］. Chinese Journal of Mechanical Engineering, 2006, 42(11): 8187．
［5］ DU Heng, WEI Jian-hua. Motion synchronization control of four multi-stage cylinders electro-hydraulic elevating system ［C］∥ Proceedings of the 2010 International Conference on Mechanic Automation and Control Engineering. Wuhan: ［s. n.］, 2010: 5249-5253．
［6］ 倪敬,项占琴,潘晓弘,等.双缸同步提升电液系统建模和控制［J］.机械工程学报,2007,43(2)：81-86．
NI Jing, XIANG Zhan-qin, PAN Xiao-hong, et al. Synchronization modeling and control for two cylinder electro-hydraulic elevating systems ［J］. Chinese Journal of Mechanical Engineering, 2007, 43(2): 81-86．
［7］ LI Ke, CHEN Jian, XIAO Zi-yuan, et al. An electrohydraulic system for synchronized roof erection ［J］. Automation in Construction, 2003, 12(1): 29-42．
［8］ SCHOTHORST G V. Modelling of long-stroke hydraulic servo-systems for flight simulator motion control and system design ［D］. Delft: Delft University of Technology, 1997．
［9］ SIMON D. Optimal state estimation ［M］. New Jersey: John Wiley & Sons, 2006:123-148．
［10］ CHEN Cheng-yi, LIU Li-qiang, CHENG Chi-cheng, et al. Fuzzy controller design for synchronous motion in a dual-cylinder electro-hydraulic system ［J］. Control Engineering Practice, 2007, 16(6): 658-673．
［11］ 魏建华,熊熙程,管成.两级电液伺服位置控制研究［J］.农业机械学报,2006,37(4)：102-106．
WEI Jian-hua, XIONG Xi-cheng, GUAN Cheng. Reserch on 2-stage electro-hydraulic position servocontrol based on heavy load and long working stroke position control system ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2006, 37(4): 102-106．
［12］ 牛春立,李晶.大型水坝升船机船厢液压系统［J］.液压与气动,2002,11:42-43．
NIU Chun-li, LI Jing. Hydraulic system of the large dam life shipping-case ［J］. Chinese Hydraulics & Pneumatics, 2002, 11: 42-43．
[1] 丁川,丁凡,周星,满在朋,杨灿军. 新型耐压湿式比例电磁铁的研制与对比试验研究[J]. J4, 2014, 48(3): 451-455.
[2] 宋月超, 徐兵, 杨华勇, 张军辉. 改进的柱塞泵流量脉动“实用近似”测试法[J]. J4, 2014, 48(2): 200-205.
[3] 满在朋,丁凡,丁川,刘硕,黄挺峰. 液压软管脉冲试验的发展与研究综述[J]. J4, 2014, 48(1): 21-28.
[4] 施虎, 杨华勇, 龚国芳, 侯典清. 盾构推进液压系统载荷顺应性指标和评价方法[J]. J4, 2013, 47(8): 1444-1449.
[5] 侯典清,龚国芳,施虎,王林涛. 基于顺应特性的新型盾构推进系统设计[J]. J4, 2013, 47(7): 1287-1292.
[6] 施虎,杨华勇,龚国芳,王林涛. 盾构掘进机关键技术及模拟试验台现状与展望[J]. J4, 2013, 47(5): 741-749.
[7] 侯典清, 龚国芳, 施虎, 王林涛. 盾构推进系统突变载荷顺应特性研究[J]. J4, 2013, 47(3): 522-527.
[8] 朱旭, 魏建华, 方锦辉. 先导式电液配流系统的动态特性[J]. J4, 2013, 47(2): 193-200.
[9] 张彦廷, 渠迎锋, 刘振东, 马江涛. 天车升沉补偿系统摇摆装置的设计[J]. J4, 2012, 46(12): 2268-2273.
[10] 方锦辉, 魏建华, 孔晓武. 并联伺服阀的同步控制策略[J]. J4, 2012, 46(6): 1054-1059.
[11] 杜恒, 魏建华, 冯瑞琳. 压力跟踪阀建模、仿真与试验研究[J]. J4, 2012, 46(6): 1034-1040.
[12] 满军, 丁凡, 李其朋, 笪靖, 邵森寅. 永磁屏蔽式耐高压高速开关电磁铁[J]. J4, 2012, 46(2): 309-314.
[13] 管成,徐晓,林潇,王守洪. 液压挖掘机回转制动能量回收系统[J]. J4, 2012, 46(1): 142-149.
[14] 黄家海,邱敏秀,方文敏. 液黏调速离合器中摩擦副间隙内流体传热分析[J]. J4, 2011, 45(11): 1934-1940.
[15] 黄家海,魏建华,邱敏秀. 液黏调速离合器传动特性分析[J]. J4, 2011, 45(11): 1927-1933.