重庆理工大学学报(自然科学) ›› 2023, Vol. 37 ›› Issue (3): 348-356.

• “第 23届流体动力与机电控制工程国际学术会议”专栏 • 上一篇    

伺服加载系统非线性建模及间隙补偿控制研究

姜帅琦,何 俊,康 硕   

  1. 1.北京精密机电控制设备研究所,北京 100076; 2.航天伺服驱动与传动技术实验室,北京 100076; 3.季华实验室新型显示技术与装备研究中心,广东 佛山 52820
  • 出版日期:2023-04-26 发布日期:2023-04-26
  • 作者简介:姜帅琦,男,高级工程师,主要从事电静压伺服控制系统研究,Email:jsqbjtu@163.com。

Research on nonlinear modeling and gap compensationcontrol of the servo loading system

  • Online:2023-04-26 Published:2023-04-26

摘要: 分析机械间隙误差对于伺服加载系统加载液压缸位移、负载压力和流量的影响,提 出了伺服加载系统机械间隙误差的补偿控制方法,建立了机械间隙误差影响下的伺服加载系统 非线性模型。通过 Simulink系统仿真和系统实验,对伺服加载系统非线性模型和机械间隙补偿 方法的精确性进行验证。实验结果显示:低航速小负载工况时的输出负载力精度误差由 18% 降低至 10%,高航速大负载工况时的输出负载力精度误差由 21%降低至 8%,被测产品伺服机 构在全行程内的输出负载力滞后误差基本消除。

关键词: 伺服加载系统, 非线性建模, 间隙误差, 补偿控制

Abstract: This paper analyzes the influence of mechanical clearance error on the displacement, load pressure and flow rate of the hydraulic cylinder of the servo loading system. The compensation control method of the mechanical clearance error of the servo loading system is then proposed. In addition, a nonlinear model of the servo loading system under the influence of the mechanical clearance error is established. Finally, the Simulink simulation and system experiments are implemented to verify the accuracy of the nonlinear model of the servo loading system and the mechanical clearance compensation method.It can be seen from the experimental results that the accuracy error of the output load force reduces from 18% to 10% under low speed and small load conditions, and from 21% to 8% under high speed and large load conditions. The hysteresis error of the output load force of the servo mechanism of the tested products in the whole stroke is basically eliminated.

中图分类号: 

  • TP271