二次调节伺服加载系统的耦合影响与鲁棒补偿

针对二次调节伺服加载系统,建立了数学模型,利用MATLAB仿真软件,对液压和机械耦合干扰下的系统控制性能进行了仿真研究。仿真结果表明,随着负载压力、输出转矩和输出转速的波动幅度的增大,系统的控制精度明显变差,转矩控制系统受负载压力波动的影响大于转速控制系统,转矩波动对转速控制系统的影响大于转速波动对转矩控制系统的影响。为了消除系统耦合干扰的影响,利用鲁棒补偿方法,即在PID控制基础上,加入归零因子环节和低通滤波器,对控制系统进行改进,使系统实现了解耦,并同时使系统获得了很强的鲁棒性,大大地提高了系统的控制性能。

Coupling Influence and Robust Compensation of the Servo Loading System with Secondary Regulation

The mathematical model was presented for the servo loading system with secondary regulation.Control performance under the disturbance of hydraulic and mechanical coupling was simulated with MATLAB.Simulation reveals that increasing of load pressure,output torque and rotational speed may deteriorate control precision.Load pressure fluctuation causes more influence on torque control system than on speed control system,while torque fluctuation causes more influence on speed control system than speed fluctuation does on torque control system.In order to eliminate the deteriorating effect of coupling disturbances,the robust compensation was featured on the basis of PID control,exploited return-to-zero factor and low-pass filter.The control system was improved,which realizes decoupling of the system,raises its robustness and improves control property.