CN109139616A - The symmetrization control method of asymmetric hydraulic system based on output feedback - Google Patents
The symmetrization control method of asymmetric hydraulic system based on output feedback Download PDFInfo
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- CN109139616A CN109139616A CN201811081775.0A CN201811081775A CN109139616A CN 109139616 A CN109139616 A CN 109139616A CN 201811081775 A CN201811081775 A CN 201811081775A CN 109139616 A CN109139616 A CN 109139616A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/001—Servomotor systems with fluidic control
Abstract
The invention discloses a kind of symmetrization control methods of asymmetric hydraulic system based on output feedback, include the following steps: a, establish the space mathematical model of asymmetric hydraulic system by the equilibrium equation of the load flow lienarized equation of hydraulic system, the flow equation of hydraulic cylinder works chamber and valve-controlled cylinder piston；B, from above-mentioned space mathematical model, state space balanced system is converted for asymmetric hydraulic system based on the dynamic compesated control of output feedback by carrying out to asymmetric hydraulic system；C, unified PID control is carried out to the state space balanced system after conversion.The asymmetrical control device debugging amount that the present invention solves asymmetric system for a long time is big, the narrow problem of control range；Control strategy is simplified, makes Field adjustment more simple, so that operator is easier the grasp of system debug, versatility is more preferable；So that the reliability and response characteristic of system can obtain larger raising.
Description
Technical field
The present invention relates to the control technology field of hydraulic system more particularly to it is a kind of based on output feedback it is asymmetric hydraulic
The symmetrization control method of system.
Background technique
Although the research of balanced system has many research achievements, real system is mostly asymmetric system, and these
Real system in the operational process such as unloaded, load, operation and commutation, the kinetic characteristics of system there are significant difference, due to
A series of problems, such as asymmetric system static and dynamic performance on both forward and reverse directions is asymmetric, and pressure generates transition when commutation.
HYDRAULIC CONTROL SYSTEM precision is high, and price is lower with respect to electrical system, and insensitive to medium pollution, thus answers extensively
For in Industry Control.However, this body structure of system and the asymmetrical characteristic of outer load cause hydraulic system in both forward and reverse directions spy
Property is inconsistent.
The asymmetrical characteristic of both forward and reverse directions increases the design difficulty of controller.If system is set according to the direction of fast speed
Controller is counted, then slower direction will be excessively slow；If according to controller is designed on slow direction, faster
Direction will appear overshoot.To the agreements of the forward and reverse speed characteristics of electrohydraulic system generally from two sides of structure and control theory
Face carries out.It is proposed in structure and controls hydraulic cylinder using double spool, Asymmetry Valve etc., but due to the processing of valve complexity, and worked as
It is poor for the asymmetry effect for eliminating pressure jump and movement when high frequency divertical motion and higher load change frequency,
Industrial application is not extensive, need to be furtherd investigate.In terms of control theory, traditional solution is to be based on unified model,
By detection system state parameter, many compensation methodes are proposed using adaptive compensation technique.Existed based on system asymmetric
Characteristic, a kind of effective method are exactly on the basis of fully understanding system asymmetrical characteristic, using different in positive and negative direction
Controller is to realize the consistent of positive and negative speed characteristics.
Although these methods can theoretically efficiently solve asymmetry problem, their common feature is theoretical more multiple
Miscellaneous, parameter regulation is more, and design and maintenance difficulties are big, requires engineers and technicians high and more multiple due to controlling program
Miscellaneous, real-time is poor, is difficult to be used widely in industry spot.
Summary of the invention
The purpose of the present invention is to solve the shortcomings of the prior art place, provide that a kind of controller debugging amount is small, control model
It encloses extensively, control strategy is simple to operation, the symmetrization control of the stronger asymmetric hydraulic system based on output feedback of versatility
Method.
The symmetrization control method of this asymmetric hydraulic system based on output feedback provided by the invention, including it is as follows
Step:
A, pass through the load flow lienarized equation of hydraulic system, the flow equation and valve-controlled cylinder piston of hydraulic cylinder works chamber
Equilibrium equation establish the space mathematical model of asymmetric hydraulic system；
B, from above-mentioned space mathematical model, by move based on output feedback to asymmetric hydraulic system
State compensation control, converts state space balanced system for asymmetric hydraulic system；
C, unified PID control is carried out to the state space balanced system after conversion.
In the step a, by establishing the load flow lienarized equation of hydraulic system, the flow of hydraulic cylinder works chamber
The equilibrium equation of equation and valve-controlled cylinder piston obtains second-order model, obtains on the basis of the second-order model with hydraulic cylinder piston
Bar speed and load pressure be state parameter, using valve core of servo valve displacement and given load force as input condition, it is living with hydraulic cylinder
Stopper rod speed and load pressure are the space mathematical model of output.
In the step b, the dynamic compesated control based on output feedback includes the following steps:
B1, by one gain matrix of construction and a compensation matrix by space mathematical model described in step a
It is converted into a new state-space model；
B2, hypothesis hydraulic system are balanced system, seek gain matrix and compensation matrix；
B3, above-mentioned gain matrix and compensation matrix are fed back to hydraulic system progress dynamic compensation, so that asymmetric hydraulic
The space mathematical model of system is symmetrical, to obtain state space balanced system.
If asymmetric hydraulic system is valve-controlled cylinder, movement of the hydraulic oil pump feed through servo valve control hydraulic cylinder, hydraulic cylinder drive
Dynamic inertia is FlLoad, the quality of load is m, xvFor spool displacement, oil sources is a constant pressure source PS, the pressure of valve-controlled cylinder left chamber
For P1, the pressure of valve-controlled cylinder right chamber is P2, the area of valve-controlled cylinder rodless cavity is A1, the area of valve-controlled cylinder rod chamber is A2,
(1) lienarized equation of load flow are as follows:
Ql=Kqxv-KcPl (1)
In formula, QlFor load flow, KqFor the flow gain of slide valve, xvFor spool displacement, KcFor the flow rate pressure of slide valve
Amplification coefficient, PlFor load pressure；
(2) flow equation of hydraulic cylinder works chamber are as follows:
In formula, ApFor hydraulic cylinder works area, xpFor hydraulic cylinder piston displacement, CipCoefficient, V are always revealed for hydraulic cylindertFor liquid
Cylinder pressure total compression volume, βeFor effective volume elasticity modulus；
(3) equilibrium equation of valve-controlled cylinder piston are as follows:
In formula, m is that piston and load are converted to the quality on piston, βpIt is for piston and the viscous damping coefficient of load, K
Spring loaded rigidity, FLFor outer load force；
A second-order model is obtained by above three equation, is set on the basis of the second-order modelx2=Pl,u1
=xv,u2=FL, enable y1=x1,y2=x2, then pressed by formula (1), (2) and (3) is available with hydraulic cylinder piston rod speed and load
Power be state parameter, using valve core of servo valve displacement and given load force as input condition, with hydraulic cylinder piston rod speed and load
Pressure is the space mathematical model of output:
y1=x1
y2=x2
By formula (4) it is found that state matrix A isControlling matrix B isOutput matrix C is
Then formula 4 can be write as:
It, will be non-by carrying out the dynamic compesated control based on output feedback to asymmetric hydraulic system in the step b
Symmetrical hydraulic system is converted into state space balanced system, the specific steps of which are as follows:
B1, from the formula (5)s passed through a construction one gain matrix and compensation matrix, it is assumed that output feedback:
V=Ky+Lu (6)
A new state-space model is converted by space mathematical model under formula (6) effect:
B2, hypothesis hydraulic system are balanced system, then have:
Dematrix equation group (8), acquires gain matrix K and compensation matrix L are as follows:
Wherein Z is any symmetrical matrix of corresponding dimension, and Z meets
B3, by formula (9) gain matrix K and compensation matrix L feed back to hydraulic system and carry out dynamic compensation so that newly-built
The space mathematical model of system is symmetrical, to obtain state space balanced system.
Compared with prior art, the invention has the following advantages that
(1) by establishing the symmetrization space mathematical model of asymmetric hydraulic system, asymmetric system is converted to
Balanced system, the asymmetrical control device debugging amount for solving asymmetric system for a long time is big, the narrow problem of control range.
(2) to the balanced system after conversion use unified PID control, simplify control strategy, allow Field adjustment more
Simply, so that operator is easier the grasp of system debug.
(3) due to simplifying control strategy, so that the reliability and response characteristic of system can obtain larger raising.
(4) very mature for balanced system control technology, as PID control technology, robust control technique can answer
For the balanced system after converting, versatility is more preferable.
The present invention is applicable in symmetrical control theory for asymmetric system and lays a good foundation, to the high-precision of realization Hydrauservo System
Degree Position Tracking Control is very helpful.
Detailed description of the invention
Fig. 1 is control strategy figure of the invention.
Fig. 2 is the working principle diagram of valve-controlled cylinder in the present invention.
Fig. 3 is the hydraulic schematic diagram of test platform in the present invention.
Label and corresponding component name shown in figure are as follows:
1, transfer tube；2, load pump；3, overflow valve；4, cylinder is loaded；5, proportional pressure valve；6, displacement sensor；7, it drives
Cylinder；8, pressure sensor；9, shut-off valve.
Specific embodiment
The symmetrization control method of this asymmetric hydraulic system based on output feedback of the present invention, includes the following steps:
A, pass through the load flow lienarized equation of hydraulic system, the flow equation and valve-controlled cylinder piston of hydraulic cylinder works chamber
Equilibrium equation establish the space mathematical model of asymmetric hydraulic system；
B, from above-mentioned space mathematical model, by move based on output feedback to asymmetric hydraulic system
State compensation control, converts state space balanced system for asymmetric hydraulic system；
C, unified PID control is carried out to the state space balanced system after conversion.
In above-mentioned steps a, by establishing the load flow lienarized equation of hydraulic system, the flow of hydraulic cylinder works chamber
The equilibrium equation of equation and valve-controlled cylinder piston obtains second-order model, obtains on the basis of the second-order model with hydraulic cylinder piston
Bar speed and load pressure be state parameter, using valve core of servo valve displacement and given load force as input condition, it is living with hydraulic cylinder
Stopper rod speed and load pressure are the space mathematical model of output.
In above-mentioned steps b, the dynamic compesated control based on output feedback includes the following steps:
B1, the space mathematical model in step a is converted by one gain matrix of construction and a compensation matrix
For a new state-space model；
B2, hypothesis hydraulic system are balanced system, seek gain matrix and compensation matrix；
B3, above-mentioned gain matrix and compensation matrix are fed back to hydraulic system progress dynamic compensation, so that asymmetric hydraulic
The space mathematical model of system is symmetrical, to obtain state space balanced system.
Embodiment one
Using a zero lap valve-controlled cylinder with inertia load as the representative instance of asymmetric hydraulic system, such as Fig. 2 institute
Show, movement of the hydraulic oil pump feed through servo valve control hydraulic cylinder, Driven by Hydraulic Cylinder inertia is FlLoad, the quality of load is m,
xvFor spool displacement, because servo valve plays a major role to the dynamic characteristic of system, consideration is should give in the liquid resistance of valve port, even
During continuous work, when charge oil pressure variation is little.In order to simplify the mathematical model of system, overflow valve can be ignored to system
The influence of dynamic characteristic, thus oil sources can be regarded as to a constant pressure source PS.The pressure of valve-controlled cylinder left chamber is P1, valve-controlled cylinder right chamber
Pressure be P2, the area of valve-controlled cylinder rodless cavity is A1, the area of valve-controlled cylinder rod chamber is A2。
It can be seen that the symmetrization controlling party of the asymmetric hydraulic system based on output feedback of valve-controlled cylinder from Fig. 1 and Fig. 2
Method includes the following steps:
A, the load flow lienarized equation of valve-controlled cylinder, the flow equation of hydraulic cylinder works chamber and valve-controlled cylinder piston are established
Equilibrium equation, wherein
(1) load flow lienarized equation are as follows:
Ql=Kqxv-KcPl (1)
In formula, QlFor load flow, KqFor the flow gain of slide valve, xvFor spool displacement, KcFor the flow rate pressure of slide valve
Amplification coefficient, PlFor load pressure；
(2) flow equation of hydraulic cylinder works chamber are as follows:
In formula, ApFor hydraulic cylinder works area, xpFor hydraulic cylinder piston displacement, CipCoefficient, V are always revealed for hydraulic cylindertFor liquid
Cylinder pressure total compression volume, βeFor effective volume elasticity modulus；
(3) equilibrium equation of valve-controlled cylinder piston are as follows:
In formula, m is that piston and load are converted to the quality on piston, βpIt is for piston and the viscous damping coefficient of load, K
Spring loaded rigidity, FLFor outer load force；
A second-order model is obtained by above three equation, is set on the basis of the second-order modelx2=Pl,u1
=xv,u2=FL, enable y1=x1,y2=x2, and ignore the rigidity of hydraulic oil, then it is available with hydraulic cylinder by formula (1), (2) and (3)
Piston rod speed and load pressure be state parameter, using valve core of servo valve displacement and given load force as input condition, with hydraulic
Cylinder piston rod speed and load pressure are the space mathematical model of output:
y1=x1
y2=x2
By formula (4) it is found that state matrix A isControlling matrix B isOutput matrix C is
Then formula 4 can be write as:
B, by carrying out the dynamic compesated control based on output feedback to asymmetric hydraulic system, by asymmetric hydraulic system
It is converted into state space balanced system, the specific steps of which are as follows:
B1, from above-mentioned formula (5)s passed through a construction one gain matrix and compensation matrix, it is assumed that output feedback:
V=Ky+Lu (6)
In conjunction with Fig. 1, a new state-space model is converted by space mathematical model under formula (6) effect:
B2, hypothesis hydraulic system are balanced system, then have:
Dematrix equation group (8), acquires gain matrix K and compensation matrix L are as follows:
Wherein Z is any symmetrical matrix of corresponding dimension, and Z meets
B3, above-mentioned gain matrix K and compensation matrix L are fed back to hydraulic system progress dynamic compensation, so that newly-built system
Space mathematical model be symmetrical, to obtain state space balanced system；
C, unified PID control is carried out to the state space balanced system after conversion.
Verification experimental verification process of the invention is as follows, as shown in figure 3, test platform used in an emulation and test is established,
The test platform uses three constant displacement pumps for system fuel feeding, and one is used as transfer tube 1, and two are used as load pump 2, independently of each other,
It is non-interference；Transfer tube 1 sets system maximum pressure by overflow valve 3, and overflow valve 3 is used as safety valve；
(it is by two adjustable spool displacements of proportional pressure valve 5 (slide valve) of in-line and oil return line on load cylinder 4
System input is 1)；Load pump 4 sets load force (system input 2) by proportional pressure valve 5；
In hydraulic cylinder piston rod junction equipped with displacement sensor 6 that can be mobile with piston rod, the position of load can be measured
It moves and speed (state 1)；It is equipped with pressure sensor 8 in the oil inlet of load cylinder 4 and driving cylinder 7, can be loaded with indirectly testing
Pressure (state 2)；
The external leakage of driving hydraulic cylinder is adjusted using shut-off valve 9, simulates the dynamic characteristic of hydraulic cylinder in the case of external leakage；
System parameter is updated to formula (9) and obtains specific gain matrix K and compensation matrix L, then by resulting gain square
Battle array K and compensation matrix L is applied in Fig. 1, and the dynamic response by verification experimental verification system system after symmetrization compensation is special
Property, reliability and controllability all arrived biggish raising.
System is emulated by MATLAB_SIMULINK, will equally pass through the above-mentioned resulting increasing of pilot system parameter
Beneficial matrix K and compensation matrix L substitute into Fig. 1, and the state space of above-mentioned asymmetric hydraulic system is established in MATLAB_SIMULINK
Mathematical model, and system is emulated, base is obtained in the spool displacement and load force of positive negative direction setting consecutive variations respectively
This symmetrical loading speed and load pressure, so that demonstrate system is essentially balanced system after through compensation.
Claims (5)
1. a kind of symmetrization control method of the asymmetric hydraulic system based on output feedback, it is characterised in that including walking as follows
It is rapid:
A, pass through the power of the load flow lienarized equation of hydraulic system, the flow equation of hydraulic cylinder works chamber and valve-controlled cylinder piston
Equilibrium equation establishes the space mathematical model of asymmetric hydraulic system；
B, from above-mentioned space mathematical model, by mend based on the dynamic of output feedback to asymmetric hydraulic system
Control is repaid, converts state space balanced system for asymmetric hydraulic system；
C, unified PID control is carried out to the state space balanced system after conversion.
2. the symmetrization control method of the asymmetric hydraulic system according to claim 1 based on output feedback, feature
It is: in the step a, by establishing the load flow lienarized equation of hydraulic system, the flow side of hydraulic cylinder works chamber
The equilibrium equation of journey and valve-controlled cylinder piston obtains second-order model, obtains on the basis of the second-order model with hydraulic cylinder piston rod
Speed and load pressure be state parameter, using valve core of servo valve displacement and given load force as input condition, with hydraulic cylinder piston
Bar speed and load pressure are the space mathematical model of output.
3. the symmetrization control method of the asymmetric hydraulic system according to claim 1 based on output feedback, feature
Be: in the step b, the dynamic compesated control based on output feedback includes the following steps:
B1, space mathematical model described in step a is converted by one gain matrix of construction and a compensation matrix
For a new state-space model；
B2, hypothesis hydraulic system are balanced system, seek gain matrix and compensation matrix；
B3, above-mentioned gain matrix and compensation matrix are fed back to hydraulic system progress dynamic compensation, so that the state of newly-built system
Spatial mathematic is symmetrical, to obtain state space balanced system.
4. the symmetrization control method of the asymmetric hydraulic system according to claim 2 based on output feedback, feature
It is: sets asymmetric hydraulic system as valve-controlled cylinder, movement of the hydraulic oil pump feed through servo valve control hydraulic cylinder, Driven by Hydraulic Cylinder is used to
Property is FlLoad, the quality of load is m, xvFor spool displacement, oil sources is a constant pressure source PS, the pressure of valve-controlled cylinder left chamber is P1,
The pressure of valve-controlled cylinder right chamber is P2, the area of valve-controlled cylinder rodless cavity is A1, the area of valve-controlled cylinder rod chamber is A2,
(1) lienarized equation of load flow are as follows:
Ql=Kqxv-KcPl (1)
In formula, QlFor load flow, KqFor the flow gain of slide valve, xvFor spool displacement, KcAmplify system for the flow rate pressure of slide valve
Number, PlFor load pressure；
(2) flow equation of hydraulic cylinder works chamber are as follows:
In formula, ApFor hydraulic cylinder works area, xpFor hydraulic cylinder piston displacement, CipCoefficient, V are always revealed for hydraulic cylindertFor hydraulic cylinder
Total compression volume, βeFor effective volume elasticity modulus；
(3) equilibrium equation of valve-controlled cylinder piston are as follows:
In formula, m is that piston and load are converted to the quality on piston, βpFor piston and the viscous damping coefficient of load, K is load
Spring rate, FLFor outer load force；
A second-order model is obtained by above three equation, is set on the basis of the second-order modelx2=Pl,u1=
xv,u2=FL, enable y1=x1,y2=x2, then available with hydraulic cylinder piston rod speed and load pressure by formula (1), (2) and (3)
It is pressed for state parameter, using valve core of servo valve displacement and given load force as input condition, with hydraulic cylinder piston rod speed and load
Power is the space mathematical model of output:
By formula (4) it is found that state matrix A isControlling matrix B is
Output matrix C is
Then formula 4 can be write as:
5. the symmetrization control method of the asymmetric hydraulic system according to claim 4 based on output feedback, feature
It is:, will be non-right by carrying out the dynamic compesated control based on output feedback to asymmetric hydraulic system in the step b
Hydraulic system is claimed to be converted into state space balanced system, the specific steps of which are as follows:
B1, from the formula (5)s passed through a construction one gain matrix and compensation matrix, it is assumed that output feedback:
V=Ky+Lu (6)
A new state-space model is converted by space mathematical model under formula (6) effect:
B2, hypothesis hydraulic system are balanced system, then have:
Dematrix equation group (8), acquires gain matrix K and compensation matrix L are as follows:
Wherein Z is any symmetrical matrix of corresponding dimension, and Z meets
B3, by formula (9) gain matrix K and compensation matrix L feed back to hydraulic system and carry out dynamic compensation so that newly-built system
Space mathematical model be symmetrical, to obtain state space balanced system.
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