锻压技术

多缸液压机的模糊自整定积分分离PID同步控制

英文标题：Fuzzy self-tuning integral separation PID synchronous control on multi-cylinder hydraulic press

作者：吴翠红郝芯

分类号：

出版年,卷(期):页码：2022,47(3):146-153

摘要：

为了减小多缸液压机对给定位移的跟踪误差和液压缸之间的同步误差，设计了相邻交叉耦合模糊自整定积分分离PID同步控制器。以液压阀的阀控电压为控制量，以活塞杆位移为输出量，建立了同步控制系统的动力学方程。选择相邻交叉耦合同步控制方案作为基础方案，将积分分离PID控制与模糊理论相结合，提出了模糊自整定积分分离PID控制方法。仿真结果表明：从超调量、调节时间、同步误差的角度讲，相邻交叉耦合同步控制的效果优于主从同步方案和同等同步方案，模糊自整定积分分离PID控制优于模糊PID控制。经3000 kN液压机控制实验验证，在最大负载为270.4 kN的情况下，液压机压制过程的超调量为3.2%，最大同步误差为0.17 mm，说明设计的控制器具有较好的同步控制效果。

In order to reduce the tracking error of given displacement and the synchronization error between hydraulic cylinders for multi-cylinder hydraulic press, the adjacent cross-coupling fuzzy self-tuning integral separation PID synchronization controller was designed, and the dynamic equation of synchronous control system was established by taking the valve control voltage of hydraulic valve as the control quantity and the displacement of piston rod as the output quantity. Then, the adjacent cross-coupling synchronous control scheme was selected as the basic scheme, and the fuzzy self-tuning integral separation PID control method was proposed by combining the integral separation PID control with fuzzy theory. The simulation results show that the effect of adjacent cross-coupling synchronization control is better than that of the master-slave synchronization scheme and the equel synchronization scheme in terms of overshoot, adjustment time and synchronization error, and the fuzzy self-tuning integral separation PID control is better than the fuzzy PID control. The overshoot is 3.2%, and the maximum synchronization error is 0.17 mm during the pressing process of hydraulic press when the maximum load is 270.4 kN which are verified by control experiment of 3000 kN hydraulic press, indicating that the designed controller has good synchronization control effect.

基金项目：

吉林省教育厅十三五科学技术项目（JJKH20200612KJ）

吴翠红（1976-），女，硕士，副教授 E-mail：wtk180@163.com

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