基于速度同步控制的电液负载模拟器

通过理论与试验相结合的方法建立了电液力伺服控制系统的精确非线性数学模型 ,从理论上对采用传统的结构不变性原理来消除多余力的方案进行了分析 ,找出了其效果有一定局限性的机理 ,说明电液力伺服系统的非线性和频率特性对电液负载模拟器的性能有较大的影响 ,进而提出了利用舵机伺服阀的控制信号进行速度同步控制、抑制多余力矩的新方案 ,消除了系统滞后的影响 ,另外 ,由于舵机与加载马达数学模型的相似性 ,对非线性起到了一定的补偿作用。仿真和试验结果证明该方案在系统的动态品质、鲁棒性和消扰能力等方面具有相当好的效果。

The Velocity Synchronizing Control on the Electro-Hydraulic Load Simulator

This paper builds up an accurate nonlinear mathematical model of an electro-hydraulic force/torque servo control system, and provides a thorough theoretical analysis on the feedforward compensation for extraneous force/torque, whose limitation is analyzed and revealed. The nonlinear factors and the servo valve dynamics have much influence on the system characteristics. Subsequently a velocity synchronizing-compensation method by using the control signal of the control actuator is proposed, which can reduce the lagging effects for the better performance. For the reason of similarity between the model of control actuator and that of the load simulator, the proposed method performs well against the influence of nonlinear factors. The simulations and the experiments confirm that this control scheme results in a quick response, robustness, and excellent ability against disturbance.