CN112286046A - Servo control method of hydraulic cylinder - Google Patents
Servo control method of hydraulic cylinder Download PDFInfo
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- CN112286046A CN112286046A CN202011122074.4A CN202011122074A CN112286046A CN 112286046 A CN112286046 A CN 112286046A CN 202011122074 A CN202011122074 A CN 202011122074A CN 112286046 A CN112286046 A CN 112286046A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 230000003321 amplification Effects 0.000 claims abstract description 10
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 10
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention relates to a servo control method of a hydraulic cylinder, which is a PID deformation control method and can realize high position precision and quick response to working conditions, and comprises the following steps: varying the proportional element in pid algorithm
Wherein e isiDeviation of actual displacement from target displacement, KpProportional magnification of deviation of system, when deviation ei>At 0, Kp>0, when deviation ei<At 0, Kp<0, c is a constant more than 1 and less than 2, modified according to the setting requirement of the system, KITo integral amplification factor, KDIs a differential amplification factor.
Description
Technical Field
The invention relates to a servo control method of a hydraulic cylinder.
Background
The hydraulic closed-loop control system is most commonly a PID control algorithm, has small dependence on a system model, is convenient and quick to debug and is widely applied to engineering. The core idea of the PID control algorithm is
Wherein e isiDeviation of actual displacement from target displacement, KpFor magnification of the deviation of the system, KITo integral amplification factor, KDIs a differential amplification factor.
The position servo control of the hydraulic cylinder can be realized, however, when the deviation between the position of the hydraulic cylinder and the target position is small, the pid three-term parameters are small, and the integral term parameter is increased through the accumulation of time, so that the control quantity can be compensated, but under the condition that the position precision requirement and the time requirement are high, the pid debugging inevitably causes time delay or system buffeting. On the other hand, in the small deviation debugging, the control quantity obtained by pid calculation is small, but the movement speed of the hydraulic cylinder and the control quantity are not in a linear relation, at this time, the opening quantity of the servo valve is small, the flow quantity flowing through the servo valve is small, the driving capacity of the hydraulic cylinder is reduced, and at this time, a large control signal is still needed to be provided to drive the movement of the in-cylinder rod, and further, a control error is brought. Therefore, the use of the pid control method for debugging the servo system of the hydraulic cylinder inevitably affects the control precision of the system.
However, scientists also research and apply the deformation method of PID, such as integral separation, fuzzy control, genetic algorithm and other methods of changing PID parameters, and optimize the control precision of the control system. However, the integral separation method has a step of control parameters, which easily causes the unstable motion of the hydraulic cylinder; the pid parameters are separated by the fuzzy control method, the pid parameters are solved in real time, and the instability of the system is easy to occur in the parameter transition stage. And the number of parameters increases, and the debugging difficulty increases.
Under the working condition environment with high precision requirement, fast time response and small disturbance, even if an integral term is added, the system can not return in time, so the position precision control of the hydraulic system is still difficult.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the existing defects, and provide a servo control method of a hydraulic cylinder, which is a PID deformation control method and can realize high position precision and quick response to working conditions.
In order to solve the technical problems, the invention provides the following technical scheme: a servo control method of a hydraulic cylinder includes the following steps: the method comprises the following steps: the proportional element in the pid algorithm is deformed,
wherein e isiDeviation of actual displacement from target displacement, KpThe deviation of the system is scaled up by a factor.
Preferably, when the deviation ei>At 0, Kp>0。
Preferably, when the deviation ei<At 0, Kp<0。
Preferably, c is a constant greater than 1 and less than 2, and can be modified according to system setting requirements.
Preferably, K isIIs the integral magnification.
Preferably, K isDIs a differential amplification factor
The invention has the beneficial effects that: according to the servo control method of the hydraulic cylinder, the parameter Kp in the PID setting item is adjusted through deformation of the traditional PID algorithm, and the position control precision of the hydraulic cylinder by the controller is improved when the requirement on the working condition is high.
Drawings
FIG. 1 is a graph of Kp versus the deviation ei for the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
A servo control method of a hydraulic cylinder includes the following steps: the method comprises the following steps: deforming proportion link in pid algorithm
Wherein e isiDeviation of actual displacement from target displacement, KpProportional magnification of deviation of system, when deviation ei>At 0, Kp>0，When deviation ei<At 0, Kp<0, c is a constant more than 1 and less than 2, modified according to the setting requirement of the system, KITo integral amplification factor, KDIs a differential amplification factor.
The invention relates to a servo control method and an original PID control algorithm
In contrast, the present algorithm transforms the Kp term to Kp eic, where 0<c<And 1, ei is the position deviation of the hydraulic cylinder.
For example: when Kp is 5 and c is 0.3, the relationship between Kp and the deviation ei is shown in fig. 1; the Kp parameter in the PID setting item is in exponential correlation with the position deviation ei, the correlation degree of the item can be adjusted by adjusting the magnitude of c, the driving capability of the hydraulic cylinder in the stage with smaller position deviation can be improved by adjusting the Kp item, and the position control precision of the hydraulic cylinder is improved.
The stroke of a hydraulic cylinder is 40mm, the displacement sensor adopts an LVDT sensor, a servo valve is a jet flow type servo valve, and a pump station is adopted to supply pressure and regulate pressure to a hydraulic system; the dsp single chip microcomputer is used as a main controller, an ad/da module is arranged outside the single chip microcomputer, the ad module collects signals of the displacement sensor and sends the signals to the main controller, and the da module sends result data obtained by operation of the main controller to a servo valve of the hydraulic cylinder. Wherein the control law adopts
Wherein e isiDeviation of actual displacement from target displacement, KpProportional magnification of deviation of system, when deviation ei>At 0, Kp>0, when deviation ei<At 0, Kp<0, c is a constant more than 1 and less than 2, modified according to the setting requirement of the system, KITo integral amplification factor, KDIs a differential amplification factor.
The above embodiments are preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, therefore, the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (6)
1. A servo control method of a hydraulic cylinder is characterized in that: the method comprises the following steps: the proportional element in the pid algorithm is deformed,
wherein e isiDeviation of actual displacement from target displacement, KpThe deviation of the system is scaled up by a factor.
2. The servo control method of the hydraulic cylinder according to claim 1, characterized in that: when deviation ei>At 0, Kp>0。
3. The servo control method of the hydraulic cylinder according to claim 1, characterized in that: when deviation ei<At 0, Kp<0。
4. The servo control method of the hydraulic cylinder according to claim 1, characterized in that: c is a constant which is larger than 1 and smaller than 2, and can be modified according to the system setting requirement.
5. The servo control method of the hydraulic cylinder according to claim 1, characterized in that: said KIIs the integral magnification.
6. The servo control method of the hydraulic cylinder according to claim 1, characterized in that: said KDIs a differential amplification factor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011122074.4A CN112286046A (en) | 2020-10-20 | 2020-10-20 | Servo control method of hydraulic cylinder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011122074.4A CN112286046A (en) | 2020-10-20 | 2020-10-20 | Servo control method of hydraulic cylinder |
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| CN112286046A true CN112286046A (en) | 2021-01-29 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114517A (en) * | 2010-11-30 | 2011-07-06 | 浙江大学 | Displacement-force compound control lifting system for forging manipulator |
| CN109298631A (en) * | 2018-11-16 | 2019-02-01 | 楚天智能机器人（长沙）有限公司 | A kind of auto-adaptive parameter setting method adding secondary proportionality coefficient based on conventional PID controllers |
| CN109459930A (en) * | 2018-12-26 | 2019-03-12 | 电子科技大学 | A kind of cooperative control method based on PD structure and neighbours' Delay control signal |
| CN109828585A (en) * | 2019-03-04 | 2019-05-31 | 山东力创科技股份有限公司 | A kind of all-around mobile AGV control method, system and AGV |
-
2020
- 2020-10-20 CN CN202011122074.4A patent/CN112286046A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114517A (en) * | 2010-11-30 | 2011-07-06 | 浙江大学 | Displacement-force compound control lifting system for forging manipulator |
| CN109298631A (en) * | 2018-11-16 | 2019-02-01 | 楚天智能机器人（长沙）有限公司 | A kind of auto-adaptive parameter setting method adding secondary proportionality coefficient based on conventional PID controllers |
| CN109459930A (en) * | 2018-12-26 | 2019-03-12 | 电子科技大学 | A kind of cooperative control method based on PD structure and neighbours' Delay control signal |
| CN109828585A (en) * | 2019-03-04 | 2019-05-31 | 山东力创科技股份有限公司 | A kind of all-around mobile AGV control method, system and AGV |
Non-Patent Citations (1)
| Title |
|---|
| 安峰等: "带钢卷取机跑偏电液伺服系统PID控制器的设计", 《工矿自动化》 * |
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Application publication date: 20210129 |