锻压技术

伺服液压系统负载敏感位置跟踪控制

英文标题：Position tracking control on load-sensing for servo hydraulic system

作者：许文斌谭建平曾全胜

分类号：TP273

出版年,卷(期):页码：2018,43(11):99-104

摘要：

阀控液压系统结构非对称、固有非线性、工况变化明显且不同工况下外负载不相同，从而导致系统特性非线性、系统控制难度大、响应精度低、能耗大。构建了基于调速固定容积式泵的负载敏感位置的跟踪控制阀控液压系统，建立了系统数学模型。在离散PID控制的基础上，设计了基于前馈控制的滑模函数和反馈控制策略。反馈控制系统由相互关联的阀控液压系统和负载敏感控制系统构成。通过实验对比了有无负载敏感控制下，系统的位移响应、压力输出。结果表明，负载敏感控制可以提高系统的位置跟踪精度、稳定性，并降低系统能耗。

The asymmetric structure, inherent nonlinearity, obvious operating-condition changes and different external loads under various operating conditions of valve-controlled hydraulic system result in non-linear, hardly-controlling, low response precision and high energy consumption of the hydraulic system characteristics. Therefore, the load-sensing position tracking control model of valve control hydraulic system based on speed regulating and fixed displacement pump was constructed, and the mathematical model was established. On the basis of the discrete PID control, the sliding mode function and feedback control strategy based on feed forward control were designed. The feedback control system consisted of a valve control hydraulic system and a load sensitive control system. Furthermore, the displacement response and pressure output of the system with and without load-sensitive control were compared by experiments. The results show that the load sensitive control can improve the position tracking accuracy and stability of the system,and reduce the energy consumption of the system.

基金项目：

湖南省教育厅科学研究项目(16C0016)；国家重点基础研究发展计划(973计划)资助项目(2014CB049405)

许文斌(1977-)，男，硕士，副教授,E-mail：xwb_770210@126.com

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