为提高电液位置伺服系统控制精度,以电液振动台为控制对象,针对电液伺服系统液压固有频率较低、阻尼比较小等特点,提出一种三状态反馈控制与前馈逆模型控制相结合的二自由度复合控制策略。利用加速度反馈和速度反馈分别提高位置闭环系统的液压动力机构的阻尼比和液压固有频率,以保证系统在稳定条件下拓展系统工作频率范围;前馈逆模型控制能够改善实验系统的动态响应特性,进一步拓展系统频宽,提高电液振动台波形复现精度。实验结果验证了提出的二自由度控制策略的有效性。
Abstract
In order to improve the position tracking precision, a 2-DOF (2-degree-of-freedom) hybrid control strategy combined with a three variables feedback controller and an inverse model feed-forward controller is proposed for the electro-hydraulic shaking table, which can also solve the problems caused by the low inherent frequency and the small damping ratio of the electro-hydraulic system. The acceleration and speed feedback signals are employed to the position closed-loop system to improve the inherent frequency and the damping ratio of the hydraulic actuator in the three variables control, to ensure the extension of the system working frequency bandwidth under the condition of system stability. In order to further expand the system bandwidth, an inverse model feed-forward controller is employed to improve the dynamic response performances and the position tracking precision of the experimental system. Experimental results show that the proposed 2-DOF hybrid control strategy is effective to the electro-hydraulic position servo system.
关键词
电液位置伺服系统 ;
三状态反馈 ;
前馈逆模型
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Key words
electro-hydraulic position servo system ;
three variable feedback control ;
inverse model feed-forward control
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