电液复合调节作动器的精确线性化建模与控制

针对经典泵控电液作动器固有频率低的问题,对原系统增加了一个新设计的总压力控制阀,它可保证作动筒两个工作腔的压力之和始终为一常数并使两腔压力可控,从而使泵控系统达到和阀控系统相当的固有频率.这种改进型作动器称为EHCA(Electro-Hydraulic Compound regulating integrated Actuator).针对存在的相乘非线性控制问题,通过分析EHCA和总压力控制阀的工作原理,设计了基于精确线性化方法的滑模控制器,并分析了电机转速和变量泵排量在不同工况下的控制量大小配合问题.分析和仿真证明,该设计思想是有效实现高效率、节能和快响应的电液组合作动器方案.

Exact linearization based modeling and control for electro-hydraulic compound regulating integrated actuator

A new designed total pressure control valve,which can keep the sum of high and low pressures of actuating cylinder be a constant and also make the two chambers pressures be controllable,was added to the classic pump controlled electro-hydraulic actuator(EHA)to enhance its natural frequency. This improved EHA is called electro-hydraulic compound regulating integrated actuator(EHCA) which has the same response frequency with valve controlled actuator. For the multiplicative nonlinear problem of system flow, the principle of EHCA and the total pressure control valve operation scheme was analyzed,and exact linearization based modeling and controller design were implemented. The best matching of motor speed and pump displacement regulation in the different working conditions was discussed. Analysis and simulation show that,exact linearization based on EHCA sliding mode control concept achieves the control purposes of high efficiency,energy saving and faster response for dual-variable compound regulation.