五轴电液仿真转台的双马达同步控制

对五轴电液仿真转台的双马达同步驱动问题提出一种低成本方案.设计的控制器包括主免疫控制器与同步补偿器.其中,以主马达动静态性能最佳为设计目标,利用免疫算法的模糊自适应性与鲁棒性,进行了位移、速度与压力三状态主免疫控制器设计,并使其同时输出给主、从马达伺服放大器.在此基础上,以两个马达负载压力状态差值最小为控制目标,仅提取两个马达负载压差传感器的差值,运用同步补偿器对从马达控制回路进行前馈补偿实现双马达同步驱动.与采用两个编码器或两个测速电机检测双马达同步误差的方法相比,该方法成本低且易于工程实现.仿真结果表明,即使转台系统参数发生较大变化,仍可以使两个液压马达保持较小的同步误差. 

Five-axis electro-hydraulic simulator dual motors synchronizing control

A low cost approach for dual hydraulic motors synchronization was presented,which was used in five-axis flight motion electro-hydraulic simulator.The controller contained main immune controller and synchronizing controller.The main immune controller,which used the displacement,velocity,pressure state of the master motor with immune algorithm fuzzy adaptability and robustness,was designed to satisfy the static and dynamic performance of the master motor.Its output was given to servo amplifiers of two motors.For synchronization drive control of dual motors,the synchronizing controller was designed by simply taking signals of two motors' pressure sensors and feed-forward them to the slave motor' servo amplifier,aiming at eliminating the pressure difference of two motors.Compared with taking two encoders to measure angle displacement difference or two tachometers to measure velocity difference,the proposed method is of low cost and easy for engineering.Simulation results show that it can achieve high synchronization accuracy even when parameters of the simulator are changed greatly.