基于灰色预测理论的双液压缸同步控制研究

为解决双液压缸协调同步控制问题,根据灰色预测理论,设计了灰色预测前馈控制器。研究典型的双液压缸同步系统,并在此基础上建立了单液压回路前馈控制器和双缸同步系统灰色预测控制器。实验结果表明:在灰色预测控制下的液压缸工作曲线平滑,液压缸工作稳定。在所设计的极端实验中,两液压缸运动误差能够控制在15 mm以内,验证了基于灰色预测理论的双液压缸同步控制设计的可行性。

Research on Synchronous Control of Dual-hydraulic Cylinder Based on Grey Prediction Theory

In order to solve the problem of coordinated control of dual hydraulic cylinders, a gray predictive feedforward controller was designed according to the grey forecast theory. A typical dual cylinder synchronous system was studied, on this basis, a single hydraulic circuit feedforward controller and a dual hydraulic synchronous system gray predictive controller were established. The experimental results show that the hydraulic cylinder working curve is smooth under gray predictive control, and the hydraulic cylinder runs stability. In the designed extreme experiment , the motion error of dual hydraulic cylinders was controlled within 15 mm. It verifies the feasibility of the synchronous control design of dual hydraulic cylinders based on gray prediction theory