基于HNC控制器的执行器电液位置速度复合控制与应用

针对执行器控制系统的高速、高精度要求且便于工程应用，提出基于HNC100的电液位置速度复合控制方法，保证执行器高速运动下定位精度高且超调小、运动过程速度可控，进而提高系统性能或产品质量。将HNC内置的两种控制模式即高速制动模式和位置闭环控制模式，分别应用于不同的速度与负载工况。高速制动控制模式适用于负载变化较小的高速精确定位工况，实现先开环、后闭环的制动控制，且具有速度修正功能，可有效调整过程速度；位置闭环控制模式适用于负载变化较大的场合，可预先对运行过程的位置与速度曲线进行预设，实现全程位置闭环控制，即可同时保证位置与速度精度。结合HNC控制器和现有实验设备，进行类比试验，结果表明：在不同速度与负载工况下，采用合适的HNC内置控制策略，可获得良好的控制性能，且调试简便，工程适应性强。

Electro-hydraulic Position and Speed Hybrid Control and Application of Actuator Based on HNC Controller

Aimed at the high-speed actuators control system, to meet the requirement of high speed, high control accuracy and easily to be applied to engineering, an electro hydraulic position and speed hybrid control strategy based on HNC100 controller is proposed, which ensures actuator to keep high position control accuracy under high moving speed with small overshoot of displacement and controllable moving speed, and therefore to improve the system performance or product quality. The two control strategies built in HNC, that were high speed braking and position close-loop control, were separately applied to working conditions of different speed and loads. The former was applicable to the condition which should keep high position accuracy in high speed with small loads changes. The system was firstly worked in open-loop control, and turned into close-loop control in braking. Even the moving speed could be corrected to effectively adjust process speed. The latter could be used to the situation with large loads changes, by presetting the position and speed curve of motion trail in advance, to implement position close-loop control of whole process. That was simultaneously to ensure accuracies of position and speed. The analog experimental results, based on the hybrid of HNC100 controller and present experimental facilities, show that the good control performance can be obtained using the right strategy built-in HNC, under working conditions of different speed and loads. And it is easy and convenient to debug, with strong adaptability in engineering application.