双缸同步提升电液系统建模和控制

以浙江大学研制的智能钢管捆成形系统为背景,针对电液提升系统的双缸同步运动问题,提出一种两级非线性控制算法.该控制器的外环级采用一个线性多输入多输出的鲁棒控制器,用于获得双缸运动同步控制所需的各缸期望负载压力;内环级采用两个基于扰动估计观测的单输入单输出液压缸非线性压力控制器,用于在有扰动情况下实现对每个提升缸期望负载压力的精确跟踪控制.实际的控制运行结果表明,该控制策略优于常规的PID控制,可以有效地实现双缸运动同步控制.

SYNCHRONIZATION MODELING AND CONTROL FOR TWO CYLINDER ELECTRO-HYDRAULIC ELEVATING SYSTEMS

On the basis of an intelligent pipe bundle-shaping machine developed by Zhejiang University, a nonlinear control algorithm with two steps is presented to address the motion synchronization problem for a two-cylinder electro-hydraulic (EH) system. The outer loop of this approach is a linear MI MO robust control controller which is used to get desired pressure for synchronization motion control of two cylinders. The inner loop controller consists of two SISO pressure controllers designed by nonlinear perturbation observer theory which are used to track desired pressure under system disturbances. Experimental results indicate this new approach is better than conventional PID and can effectively synchronize two actuators motion.