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摘要：
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针对液压机滑块的四角调平电液系统，提出了一种基于空间任务坐标系的控制方法。分析滑块与调平缸的运动关系与空间位置关系，从而建立坐标转换矩阵，将液压机滑块四角的直线位移坐标转换为滑块中心位移与倾角组成的任务坐标，在任务坐标空间内设计了基于调平力偏置非线性前馈补偿的滑块跟踪运动PID控制器，并且直接针对滑块的倾角设计了调平PID控制器，针对不同控制目标的控制参数是独立调节、互不影响的。设计了基于调平力偏置的预加速过程，以缓解滑块与调平缸接触时的冲击。最后，在25000 kN玻璃钢液压机上对所提控制方法的有效性进行实验验证。实验中，调平缸分别定位于平面矩形的四角，矩形尺寸为3550 mm×2900 mm。实验结果表明：使用基于任务坐标系的四角调平控制方法后，液压机滑块绕坐标轴x、y的旋转倾角分别被控制在0.0032°和0.0045°以内，各调平缸的位移偏差不超过0.45 mm。
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For four-corner leveling electro-hydraulic system of hydraulic press slider, a control method was presented based on space task coordinate system, and the movement relationship and spatial position relationship between press slider and leveling hydraulic cylinders were analyzed to established a coordinate transform matrix. Then, the linear displacement coordinates of the four corners for press slider were converted into the task coordinates composed of center displacement and inclination angle of slider, and the slider tracking motion PID controller was designed in the task coordinate space based on the non-linear feedforward compensation of leveling force bias. Furthermore, the leveling PID controller was designed directly for the inclination angle of slider, and the control parameters for different control targets were independently adjusted without affecting each other. In addition, the pre-acceleration process based on the leveling force bias was designed to alleviate the impact when the slider contacted the leveling hydraulic cylinder. Finally, the effectiveness of the proposed control method was verified by experiments on the hydraulic press 25000 kN FRP, and in the experiment, the leveling hydraulic cylinders were respectively located at the four corners of a plane rectangle with 3550 mm×2900 mm. The experiment results show that after using the four-corner leveling control method based on the task coordinate system, the rotation inclination angles of the hydraulic press slider around the coordinate axis x and y are controlled within 0.0032°, and 0.0045° respectively, and the displacement deviation of the leveling hydraulic cylinder does not exceed 0.45 mm.
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基金项目：
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江苏省双创人才
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作者简介：
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作者简介：熊义（1986-），男，博士，工程师，E-mail：shonyee@163.com
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参考文献：
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