CN108333919B - Non-balance barrel pitching position control method considering road surface fluctuation interference - Google Patents
Non-balance barrel pitching position control method considering road surface fluctuation interference Download PDFInfo
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Abstract
The invention relates to a non-balance barrel pitching position control method considering road surface fluctuation interference. The technical scheme is as follows: firstly, analyzing the composition structure and the working principle of a system, and establishing a mathematical model of the unbalanced barrel pitching position electro-hydraulic servo system considering the road surface fluctuation; secondly, a correction link is adopted to inhibit the influence of the road surface fluctuation on the system control precision, a pressure difference negative feedback loop aiming at the variable non-counterweight moment in the barrel pitching motion is constructed, and the loop gain is adjusted to inhibit the influence of the non-counterweight moment on the static and dynamic performance of the system; finally, the instruction signal is input in stepU 1And sinusoidal road surface fluctuation signalθ 2And adjusting the weights of the PID controller for input items and external interference items respectively, and carrying out analysis and calculation on system control characteristics during barrel transfer and stable operation under dynamic working conditions. The invention can effectively improve the control precision of the system under the dynamic working condition without greatly increasing the system structure and has strong interference suppression capability.
Description
Technical Field
The invention relates to the technical field of servo control of pitching positions of vehicle-mounted unbalanced barrels, in particular to a method for controlling the pitching positions of the unbalanced barrels by considering road surface fluctuation interference.
Background
The unbalanced barrel pitching system is a high-precision position tracking servo system, and the performance of the unbalanced barrel pitching system plays an important role in the static and dynamic quality of a higher-level system. The system belongs to a typical complex electromechanical-hydraulic coupling control system, and the key point for controlling the system in an actual environment is to overcome the influence of road surface fluctuation interference and barrel unbalanced gravity moment.
Currently, methods for barrel balancing mainly include two major categories, external applied balancing force balancing methods and driving source based balancing methods. The balance force applying balance method comprises a mass balance method and a balance machine balance method: the mass block balancing method generally needs to provide a larger balancing mass for balancing the unbalanced mass, so that the system structure is more complicated; the balancing method of the balancing machine is to balance unbalanced mass by means of a mechanical spring or a hydraulic boosting mode, and the method has strong anti-interference capability, but has the defect of increasing the complexity of the system due to the need of arranging a special mechanical structure. The driving source based balancing method comprises a passive balancing method and an active balancing method: the passive balance method needs to estimate the unbalanced mass at the current moment, then balance the unbalanced mass by combining a motor servo system or a three-cavity hydraulic cylinder with an energy accumulator, and the motor servo system is only suitable for a barrel with smaller unbalanced mass and depends on the estimation of the unbalanced mass, so that the balance precision is not high enough; the active balancing method is to utilize the balance cavity of the three-cavity hydraulic cylinder to realize the active control balance of the unbalanced mass of the barrel, and the method is an unbalanced barrel control method under the static working condition of the system because the influence of the fluctuation interference of the road surface is not considered. Therefore, the existing control method for the non-balance barrel pitching position has the problems that the barrel position can only be controlled under the static working condition, the system structure is complex, the light weight is difficult to realize, and the control precision is not high enough.
Disclosure of Invention
The invention provides a control method for a non-balance barrel pitching position considering road surface fluctuation interference, and provides a control method for effectively inhibiting road surface fluctuation interference and non-balance weight moment influence, so that the problem of design of a servo system control method for the non-balance barrel pitching position under a dynamic working condition is solved, and the control precision of a system can be effectively improved on the premise of not greatly increasing the system structure.
The technical solution of the invention is as follows: a non-balance barrel pitching position control method considering road surface fluctuation interference comprises the following steps: firstly, analyzing the composition structure and the working principle of a system, and establishing a mathematical model of the unbalanced barrel pitching position electro-hydraulic servo system considering the road surface fluctuation; secondly, a correction link is adopted to inhibit the influence of the road surface fluctuation on the system control precision, a pressure difference negative feedback loop aiming at the variable non-counterweight moment in the barrel pitching motion is constructed, and the loop gain is adjusted to inhibit the influence of the non-counterweight moment on the static and dynamic performance of the system; finally, the instruction signal U is input in a step manner1And a sinusoidal road surface fluctuation signal theta2And adjusting the weights of the PID controller for input items and external interference items respectively, and carrying out analysis and calculation on system control characteristics during barrel transfer and stable operation under dynamic working conditions.
The method specifically comprises the following steps:
firstly, analyzing the composition structure and the working principle of a system, and establishing a mathematical model of the unbalanced barrel pitching position electro-hydraulic servo system considering the road surface fluctuation:
let θ1And theta2The angle of the barrel rotating around the rotating shaft relative to the carrier and the angle of the carrier rotating around the rotating shaft relative to the inertial space are respectively as follows:
θ＝θ1+θ2
and then a moment balance equation of the hydraulic cylinder and the load with theta as output can be obtained:
wherein M is the output torque of the hydraulic cylinder, J is the moment of inertia of the barrel relative to the trunnion, BmIs the coefficient of viscous friction of the barrel, TgThe non-equilibrium gravity moment, the arm of force of the barrel gravity relative to the rotation center changes in the pitching process, and T is arrangedg0For a non-counterbalancing moment at 0 deg. of the barrel,then there are:
Tg＝Tg0·cos(θ)
the output torque M of the hydraulic cylinder is the product of the output force and the force arm of the output force relative to the rotation center of the barrel, namely:
M＝p1·A·L
wherein p is1The hydraulic cylinder has the advantages that the pressure of an oil inlet cavity of the hydraulic cylinder is obtained, A is the effective acting area of a piston cylinder barrel, L is the force arm of output force relative to the rotation center of the barrel, and the output displacement L of a piston rod of the hydraulic cylinder can be converted into the output rotation angle of the barrel relative to the rotation center through L.
Neglecting the pressure of the smaller oil return cavity and combining the force arm conversion formula, the continuous flow equation of the hydraulic pump and the cylinder can be obtained as follows:
wherein U is1For a given control voltage, KaFor servo amplifier gain, i.e. Ka＝i/U1，K1The servo valve frequency is 5-8 times the actuator frequency for servo valve flow gain, so the mathematical model can be replaced by a constant, i.e. K1＝Q/i，CtIs the total leakage coefficient, beta, of the cylindereIs the volume elastic modulus, V, of hydraulic oil0Is the single-cavity volume of the hydraulic cylinder.
The speed gyroscope in the system detects the rotation speed of the barrel in real time and sends the rotation speed and an angle signal obtained by integrating the rotation speed into the controller for speed closed loop and position closed loop control, wherein the speed gyroscope detects the rotation speed of the barrel in real time and sends the angle signal into the controller for speed closed loop and position closed loop control
And KlVelocity feedback and position feedback mathematical models, respectively.
And a second step, adopting a correction link to suppress the influence of the road surface fluctuation on the system control precision, constructing a pressure difference negative feedback loop aiming at the variable non-counterweight moment in the barrel pitching motion, and simultaneously adjusting the loop gain to suppress the influence of the non-counterweight moment on the static and dynamic performances of the system:
performing Laplace transformation on the model established in the first step and arranging to obtain a control structure block diagram of the unbalanced barrel system under the condition of road surface fluctuation, and setting G1(s) correction elements are used, the effect of which is to compensate for theta2·Js2Partial effects. Get control instruction U1And non-counterweight moment TgAre all 0, the output angle theta can be obtained about the road surface fluctuation signal theta2The transfer function of (a) is:
wherein, F1(s)＝Kp+Ki/s+Kds，F2(s)＝KaK1，
To compensate for theta2·Js2The influence of (a) can be obtained:
and G2(s) taking a control command U for suppressing the pressure difference negative feedback link of the non-counterweight moment influence1And road surface fluctuation theta2Are all 0, the component model in the first step can be integrated to obtain the output angle theta relative to the non-balance weight moment TgThe transfer function of (a) is:
to suppress the influence of the unbalanced gravitational moment, it can be found that:
G2(s)＝-Ct/(KaK1)
thirdly, inputting the command signal U in steps1And a sinusoidal road surface fluctuation signal theta2And adjusting the weights of the PID controller for input items and external interference items respectively, and carrying out analysis and calculation of system control characteristics during barrel transfer and stable operation under dynamic working conditions:
building a Matlab/Simulink simulation block diagram of a non-equilibrium barrel control system under the condition of road surface fluctuation, wherein a PID (proportion integration differentiation) controller which is easy to realize in engineering is selected for carrying out system control, and proportional, integral and differential term coefficients are set to be K respectivelyp、KiAnd KdThen the controller transfer function is:
input barrel turning angle theta1Corresponding command voltage U1While setting a sinusoidal fluctuation signal theta of the road surface2The amplitude and frequency of the system, and the analysis and calculation of the system control characteristics when the program is operated to carry out the barrel turning operation under the dynamic working condition; then the barrel is turned by an angle theta1Corresponding command voltage U1Set to 0 and a road surface sine wave signal theta2The amplitude and the frequency of the system are kept unchanged, and the running program is used for analyzing and calculating the control characteristics of the system when the barrel is stably operated under the dynamic working condition.
Compared with the prior art, the invention has the advantages that:
(1) the invention considers the interference of carrier swing caused by road surface fluctuation to the unbalanced barrel control system, establishes an interference action mechanism model and adopts a correction link to inhibit the influence caused by the interference, on the basis, an execution mechanism pressure difference negative feedback loop link is added to overcome the influence of unbalanced gravity moment of the barrel, and then a PID controller is designed to realize the control of the unbalanced barrel pitching position servo system under the dynamic working condition, thereby effectively improving the system control precision without causing great influence on the compactness of the system structure.
(2) The invention respectively considers the road surface fluctuation and the changing non-counterweight moment as the system external interference and the internal interference, adopts the correction link to suppress the influence of the road surface fluctuation interference, sets the steady-state error after the correction link to be 7% of that without the correction link, simultaneously increases the pressure difference negative feedback loop link of the actuating mechanism to overcome the influence of the non-counterweight moment of the barrel, can realize that the error is less than 0.1mil under the condition of barrel turning and stable working condition under the non-counterweight moment of 5000Nm, namely has stronger suppression capability to the two kinds of interference.
Drawings
FIG. 1 is a schematic diagram of the composition structure of an unbalanced barrel system under road surface fluctuation;
FIG. 2 is a block diagram of a control structure of an unbalanced barrel system under road surface fluctuation;
FIG. 3 is a block diagram of a system under the independent action of road surface fluctuation;
FIG. 4 is a block diagram of the system structure under the action of non-counterweight moment alone;
FIG. 5 is a Matlab/Simulink simulation block diagram of an unbalanced barrel system under road surface fluctuation;
FIG. 6 is a 30 ° (0.524rad) barrel turn response at 5000Nm unbalanced moment of gravity;
FIG. 7 is a 0 (0rad) barrel stable response at 5000Nm unbalanced moment of gravity.
Detailed Description
The invention relates to a non-balance barrel pitching position control method considering road surface fluctuation interference, which comprises the following specific implementation steps of:
firstly, analyzing the composition structure and the working principle of a system, and establishing a mathematical model of the unbalanced barrel pitching position electro-hydraulic servo system considering the road surface fluctuation:
FIG. 1 is a schematic diagram of a non-equilibrium barrel servo system under road surface fluctuation, wherein theta is1And theta2The angle of the barrel rotating around the rotating shaft relative to the carrier and the angle of the carrier rotating around the rotating shaft relative to the inertial space are respectively as follows:
θ＝θ1+θ2
and then a moment balance equation of the hydraulic cylinder and the load with theta as output can be obtained:
wherein M is the output torque of the hydraulic cylinder, J is the moment of inertia of the barrel relative to the trunnion, BmIs the coefficient of viscous friction of the barrel, TgThe non-equilibrium gravity moment, the arm of force of the barrel gravity relative to the rotation center changes in the pitching process, and T is arrangedg0For a non-counterbalancing moment at 0 ° of the barrel, there are:
Tg＝Tg0·cos(θ)
the output torque M of the hydraulic cylinder is the product of the output force and the force arm of the output force relative to the rotation center of the barrel, namely:
M＝p1·A·L
wherein p is1The pneumatic cylinder oil feed chamber pressure, A are the effective active area of piston cylinder, and L is the arm of force of the relative barrel rotation center of output power, can convert pneumatic cylinder piston rod output displacement L into the output corner of barrel for the rotation center through L, establishes the length of AB in figure 1 and does:
wherein l1Is the length of OA,/2Is the length of OB,. sup.3For barrel rotation angle theta1Length of AB at 0 DEG, gamma + theta1For the angle between OA and OB, the derivation of the two sides of the above equation with respect to time t can be obtained:
neglecting the pressure of the smaller oil return cavity and combining the force arm conversion formula, the continuous flow equation of the hydraulic pump and the cylinder can be obtained as follows:
wherein U is1For a given control voltage, KaFor servo amplifier gain, i.e. Ka＝i/U1，K1For servo valve flow gain, the servo valve frequency is here 5 to 8 times the actuator frequency, so that the transfer function can also be replaced by a constant, i.e. K1＝Q/i，CtIs the total leakage coefficient, beta, of the cylindereIs the volume elastic modulus, V, of hydraulic oil0Is the single-cavity volume of the hydraulic cylinder.
The speed gyroscope in the system detects the rotation speed of the barrel in real time and sends the rotation speed and an angle signal obtained by integrating the rotation speed into the controller for speed closed loop and position closed loop control, wherein the speed gyroscope detects the rotation speed of the barrel in real time and sends the angle signal into the controller for speed closed loop and position closed loop control
And KlVelocity feedback and position feedback mathematical models, respectively.
And a second step, adopting a correction link to suppress the influence of the road surface fluctuation on the system control precision, constructing a pressure difference negative feedback loop aiming at the variable non-counterweight moment in the barrel pitching motion, and simultaneously adjusting the loop gain to suppress the influence of the non-counterweight moment on the static and dynamic performances of the system:
a block diagram of a control structure of an unbalanced barrel system under road surface fluctuation obtained by performing Laplace transform and arrangement on the model established in the first step is shown in FIG. 2, wherein G1(s) correction elements are used, the effect of which is to compensate for theta2·Js2Partial effects. Get control instruction U1And non-counterweight moment TgAll of which are 0, fig. 2 can be converted into an equivalent form shown in fig. 3, and the output angle theta can be obtained with respect to the road surface fluctuation signal theta2The transfer function of (a) is:
wherein, F1(s)＝Kp+Ki/s+Kds，F2(s)＝KaK1，
To compensate for theta2·Js2Let Φ(s) be 0, one can obtain:
and G in FIG. 22(s) taking a control command U for suppressing the pressure difference negative feedback link of the non-counterweight moment influence1And road surface fluctuation theta2All are 0, FIG. 2 can be converted into an equivalent form as shown in FIG. 4, and the component model in the first step is integrated to obtain the output angle theta with respect to the non-counterweight moment TgThe transfer function of (a) is:
combining actual parameter values and analyzing a formula to find out that
Is of finite value, and
middle (V)0/Be) The coefficient of s is very small, so the influence of the change of the non-balance moment on the steady-state precision of the system is mainly from G2(s)F2(s)+CtFor this purpose, the pressure difference feedback loop is designed to cancel the constant term CtAnd (3) ordering:
G2(s)F2(s)+Ct＝0
the transfer function of the pressure difference negative feedback loop can be obtained as:
G2(s)＝-Ct/(KaK1)
thirdly, inputting the command signal U in steps1And a sinusoidal road surface fluctuation signal theta2Respectively as an input item and an external interference item, and adjusting the weights of the PID controller to perform barrel turning and stable operation under dynamic working conditionsAnd (3) analyzing and calculating the system control characteristics:
FIG. 5 is a diagram of a Matlab/Simulink simulation of an unbalanced barrel control system under road surface fluctuation, in which a PID controller which is easy to implement in engineering is selected for system control, and proportional, integral and differential coefficients are set to be K respectivelyp、KiAnd KdThen the controller transfer function is:
input barrel turning angle theta1Corresponding command voltage U1While setting a sinusoidal fluctuation signal theta of the road surface2The amplitude and frequency of the signal, the analysis and calculation of the system control characteristics when the program is operated to carry out the barrel turning operation under the dynamic working condition, and the calculation result is shown in fig. 6; then the barrel is turned by an angle theta1Corresponding command voltage U1Set to 0 and a road surface sine wave signal theta2The amplitude and the frequency of the operation program are kept unchanged, the operation program carries out analysis and calculation on the system control characteristics when the body pipe is stably operated under the dynamic working condition, and the calculation result is shown in figure 7; as can be seen from fig. 6 and 7: the method can control the steady-state precision within 0.1mil, and can effectively inhibit the influence of road surface fluctuation interference and non-counterweight moment.
Claims (1)
1. A non-balance barrel pitching position control method considering road surface fluctuation interference comprises the following steps: firstly, analyzing the composition structure and the working principle of an unbalanced barrel servo system under the condition of road surface fluctuation, and establishing an unbalanced barrel pitching position electro-hydraulic servo system mathematical model considering the road surface fluctuation; secondly, a correction link is adopted to inhibit the influence of the road surface fluctuation on the control precision of the system, a pressure difference negative feedback loop aiming at the variable unbalanced gravitational moment in the pitching motion of the barrel is constructed, and the loop gain is adjusted to inhibit the influence of the unbalanced gravitational moment on the static and dynamic performance of the system; finally, the command voltage U is input in steps1And a sinusoidal road surface fluctuation signal theta2Adjusting PID control for input item and external interference item respectivelyMaking each weight of the device, and analyzing and calculating the control characteristics of the system during barrel turning and stable operation under dynamic working conditions;
the method specifically comprises the following steps:
the method comprises the following steps of firstly, analyzing the composition structure and the working principle of an unbalanced barrel servo system under the condition of road surface fluctuation, and establishing an unbalanced barrel pitching position electro-hydraulic servo system mathematical model considering the road surface fluctuation:
let θ1And theta20The angle of the barrel rotating around the rotating shaft relative to the carrier and the angle of the carrier rotating around the rotating shaft relative to the inertial space are respectively as follows:
θ＝θ1+θ20
and then a moment balance equation of the hydraulic cylinder and the load with theta as output can be obtained:
wherein M is the output torque of the hydraulic cylinder, J is the moment of inertia of the barrel relative to the trunnion, BmIs the barrel viscous friction coefficient; t isgThe non-equilibrium gravity moment, the arm of force of the barrel gravity relative to the rotation center changes in the pitching process, and T is arrangedg0For a non-counterbalancing moment at 0 ° of the barrel, there are:
Tg＝Tg0·cos(θ)
the output torque M of the hydraulic cylinder is the product of the output force and the force arm of the output force relative to the rotation center of the barrel, namely:
M＝p1·A·L
wherein p is1The hydraulic cylinder has the advantages that the pressure of an oil inlet cavity of the hydraulic cylinder is obtained, A is the effective acting area of a piston cylinder barrel, L is the force arm of output force relative to the rotation center of the barrel, and the output displacement of a piston rod of the hydraulic cylinder can be converted into the output rotation angle of the barrel relative to the rotation center through L.
Neglecting the pressure of the oil return cavity and combining a force arm conversion formula, the continuous flow equation of the hydraulic pump and the cylinder can be obtained as follows:
wherein U is1For a given command voltage, KaFor servo amplifier gain, i.e. Ka＝i/U1，K1The servo valve frequency is 5-8 times the actuator frequency for servo valve flow gain, so the mathematical model can be replaced by a constant, i.e. K1＝Q/i，CtIs the total leakage coefficient, beta, of the cylindereIs the volume elastic modulus, V, of hydraulic oil0Is the single-cavity volume of the hydraulic cylinder;
the speed gyroscope in the system detects the rotation speed of the barrel in real time and sends the rotation speed and an angle signal obtained by integrating the rotation speed into the controller for speed closed loop and position closed loop control, wherein the speed gyroscope detects the rotation speed of the barrel in real time and sends the angle signal into the controller for speed closed loop and position closed loop control
And KlRespectively, a speed feedback mathematical model and a position feedback mathematical model;
and secondly, restraining the influence of the road surface fluctuation on the control precision of the system by adopting a correction link, constructing a pressure difference negative feedback loop aiming at the variable unbalanced gravitational moment in the pitching motion of the barrel, and simultaneously adjusting the gain of the loop to restrain the influence of the unbalanced gravitational moment on the static and dynamic performances of the system:
performing Laplace transformation on the model established in the first step and arranging to obtain a control structure block diagram of the unbalanced barrel system under the condition of road surface fluctuation, and setting G1(s) correction elements are used, the effect of which is to compensate for theta2·Js2Partial effects. Get instruction voltage U1And non-counterweight moment TgAre all 0, the output angle theta can be obtained according to the sine road surface fluctuation signal theta2The transfer function of (a) is:
wherein, F1(s)＝Kp+Ki/s+Kds，F2(s)＝KaK1，
To compensate for theta2·Js2The influence of (a) can be obtained:
and G2(s) taking command voltage U as a pressure difference negative feedback link for inhibiting influence of unbalanced gravitational moment1And a sinusoidal road surface fluctuation signal theta2All are 0, and all the models established in the first step are combined to obtain the output angle theta with respect to the non-counterweight moment TgThe transfer function of (a) is:
to suppress the influence of the unbalanced gravitational moment, it can be found that:
G2(s)＝-Ct/(KaK1)
thirdly, inputting the command voltage U in steps1And a sinusoidal road surface fluctuation signal theta2And adjusting the weights of the PID controller for input items and external interference items respectively, and carrying out analysis and calculation of system control characteristics during barrel transfer and stable operation under dynamic working conditions:
building a Matlab/Simulink simulation block diagram of a non-equilibrium barrel control system under the condition of road surface fluctuation, wherein a PID (proportion integration differentiation) controller which is easy to realize in engineering is selected for carrying out system control, and proportional, integral and differential term coefficients are set to be K respectivelyp、KiAnd KdThen the controller transfer function is:
angle theta of rotation of the input barrel relative to the carrier about its axis of rotation1Corresponding command voltage U1While setting a sinusoidal road surface fluctuation signal theta2The amplitude and frequency of the system, and the analysis and calculation of the system control characteristics when the program is operated to carry out the barrel turning operation under the dynamic working condition; the barrel is then rotated about its axis of rotation by an angle theta relative to the carrier1Corresponding command voltage U1Set to 0 and a sinusoidal road surface fluctuation signal theta2The amplitude and the frequency of the system are kept unchanged, and the running program is used for analyzing and calculating the control characteristics of the system when the barrel is stably operated under the dynamic working condition.
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