基于电液比例伺服复合加载及迭代学习控制的合成绝缘子疲劳试验方法

为模拟合成绝缘子的微风振动状态，实现其疲劳试验过程，研究电液比例伺服复合加载技术。针对合成绝缘子的实际负载工况，设计出一种复合式电液伺服加载系统，包括静态比例加载和动态伺服加载两部分，分析系统工作原理，建立伺服加载的数学模型，设计出基于PD型迭代学习的加载控制方法，实现动态加载力的精确控制，并采用AMESim和Matlab进行联合数字仿真。仿真和实际试验结果均验证了所加载方法和控制方法是正确可行的，能够取得高精度的控制效果。根据所提的加载方法和控制方法，已研制出相应的合成绝缘子电液加载系统，其静态加载力可达150 kN，动态加载力幅值可达20 kN，加载精度达到了0.5 kN，加载频率最高可达100 Hz，连续振动次数达到3千万次

Fatigue Test Method of Compound Insulator Based on Electric-hydraulic Proportional-servo Loading Technology and Iterative Learning Control

In order to simulate the vibrating condition in breeze and carry out the fatigue test for the compound insulator, the electro-hydraulic loading technology for the compound insulator is researched. Based on actual loading characteristic of the compound insulator, a compound electro-hydraulic servo load system is firstly designed, including static proportional load and dynamic servo load sub-systems. Then the working principle of this system is analyzed, and the mathematic model of electro-hydraulic servo load is also built. The control method based on PD-type iterative learning control is designed, to achieve the high-precision control for dynamic load force. The mathematic simulation based on AMESim and Matlab is completed. The results of simulation and actual experiment have proved that the load principle and control method are correct and feasible, and can achieve high-precision control effect. According this discussed electro-hydraulic loading technology and control method, the actual electric-hydraulic loading system for compound insulators has been developed, with 150 kN maximum static force, 20 kN maximum dynamic force, 0.3 kN force control precision and 100 Hz maximum load frequency, and more than 30 million number of continues vibration.