双电动缸起竖设备同步控制策略仿真研究

为实现某型设备快速可靠地起竖,采用双电动缸并列驱动的结构。起竖设备是一个具有复杂机电耦合效应的多体系统,每支缸的负载变化规律不确定。针对设备在两缸负载不一致时,存在同步误差的问题,提出了一种带有偏差耦合策略的主从式同步控制方案,设计了基于规则的模糊PD同步控制器,以两缸位置误差为控制器输入量,以对从动缸的位置补偿量为输出量。在MATLAB/Simulink环境下模拟极限偏载情况,对双缸设备的起动和运行进行仿真。结果表明:主从同步控制方案使设备在偏载条件下也能达到同步精度要求,而采用模糊PD控制器既能有效抑制起动段的同步误差,又能克服负载扰动对同步误差的影响。

Simulation on Synchronization Control Strategy of Erecting Equipment with Twin Electric Cylinders

A parallel driving structure of twin electric cylinders was applied to ensure the fast and reliable erection of a certain de-vice. The erecting equipment is a multi-body system with complex electromechanical coupling effect, and the load variation exhibits un-certainty. Aiming at the non-synchronous problem in the equipment while the load for each cylinder is inconsistent, a master-slave ( MS) synchronization control scheme with relative coupling strategy was proposed, and a rule-based fuzzy PD synchronization control-ler was designed. The controller adopted the position error of two cylinders as the input, and position compensation signal for the slave cylinder as output. Simulation of twin cylinder equipment was conducted under extreme partial load conditions in MATLAB/Simulink environment. The result indicates that the MS control scheme can enable the system to meet the accuracy requirement for synchroniza-tion. Owing to the use of fuzzy PD controller, the synchronization error in starting process can be effectively restrained and the effects on synchronization error caused by the load disturbance can be successfully overcome.