基于扰动转动力矩速度补偿的电液伺服机构

电液伺服机构与负载连接具有很高的刚性,其输出受到负载和惯性变化的影响很大。除了采取速度反馈等补偿方法外,采用观测器重构状态反馈来抑制和减少扰动的影响也是行之有效方法.在迴转形电液伺服机构上,利用观测器来推定和测定负载和惯性变化的扰动量,重构状态反馈等价闭环控制系统.通过实验,对系统的频率特性和阶跃响应曲线的测定和分析,输出速度由负载和惯性变化引起的扰动影响显著被减少,证明了重构状态反馈理论的正确性。

Electro-hydraulic servomechanism compensating based on velocity variation caused by torque disturbance

The connecting part of electro-hydraulic servomechanism with load is of high rigidty, sothat the output is easily affected by the changes of load and inertia. Besides speed feedbackcompensating method, it is also an effective method for state feedback of observer reconstruction todecrease and restrain the affect of disturbance of load and inertia. A rotary electro-hydraulicservomechanism is treated by an observer which estimates and measures the disturbance of load andinertia, and the state feedback of observer is reconstructed to form this equivalent closed loop system.By experiments, by analyzing and measuring frequency and step response of this system, it is provedthat the changes of speed caused by the disturbance of load and inertia is decreased markedly by thisobserver, and theoretically the state feedback is correct.