[1]马 玉,谷立臣.变转速液压动力源的输入前馈-反馈复合补偿控制[J].长安大学学报(自然科学版),2017,37(05):120-126.
　MA Yu,GU Li-chen.Input feedforward-feedback compounded compensation control of variable speed hydraulic power supply[J].Journal of Chang’an University (Natural Science Edition),2017,37(05):120-126.
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变转速液压动力源的输入前馈-反馈复合补偿控制()
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长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
第37卷
期数:
2017年05期
页码:
120-126
栏目:
汽车与机械工程
出版日期:
2017-09-30

文章信息/Info

Title:
Input feedforward-feedback compounded compensation control of variable speed hydraulic power supply
作者:
马 玉; 谷立臣
西安建筑科技大学 机电工程学院，陕西 西安 710055
Author(s):
MA Yu;  GU Li-chen
School of Mechanical and Electrical Engineering, Xi’an University of Architecture and Technology, Xi’an 710055, Shaanxi, China
关键词:
机械工程; 液压动力源; 输入前馈; 反馈控制; 滞后性
Keywords:
mechanical engineering;  hydraulic power supply;  input feedforward;  feedback control;  lag
分类号:
U463.221
文献标志码:
A
摘要:
针对简单比例-积分-微分（PID）控制在液压系统控制中出现严重滞后、不易调节等问题，提出采用输入前馈-反馈复合补偿控制策略实现液压动力源典型工况下流量的跟踪控制，以控制执行机构速度。该方法以变转速机电液系统试验平台为基础进行建模，深入分析液压动力源机电液参数之间的耦合关系，建立整个试验平台的输入前馈-反馈复合补偿控制模型，以实现液压动力源典型工况（阶跃、斜坡、正弦动态变化）下流量的跟踪控制。研究结果表明：与简单PID控制相比，目标流量阶跃变化时，复合控制响应时间减小约40%，稳态误差减小约33%；目标流量斜坡变化时，复合控制响应时间减小约44%，动态误差减小约46%；目标流量正弦变化时，响应时间和动态误差减小至简单PID反馈控制的30%，系统的动态响应特性得到大幅度提升。输入前馈反馈复合补偿控制算法简单、可靠性高，解决了传统液压调速出现的滞后、响应慢、不易调节等问题。
Abstract:
Aiming at the hydraulic power supply of permanent magnet synchronous motor gear pump, when speed of the actuator was controlled, there were many problems such as serious lag and difficult adjustment due to the large inertia and many links of hydraulic system. Traditional closed-loop speed feedback control can not achieve satisfactory control effect. Input feedforward-feedback compounded compensation control strategy was proposed to realize the tracking control of the flow of hydraulic power supply under typical working conditions, and then to control the speed of actuator. The method was based on variable speed electromechanical hydraulic system experimental platform, to model the coupling relationship of electromechanical hydraulic parameters of hydraulic power source was deeply analyzed, model of the whole experimental platform was established, which realized the tracking control of the flow under the typical working conditions of the hydraulic power source (step, slope, sinusoidal dynamic change). The simulation and experimental results show that when the target flow changes dynamically (step, slope), the compounded compensation control strategy reduces the response time and dynamic error to 50% of the simple PID control. When the target flow sine changes, the response time and dynamic error are reduced to 30% of the simple PID feedback control, and the dynamic response characteristic of the system is greatly improved.

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更新日期/Last Update: 2017-10-16