基于回流能量调节的液压执行机构运动位移控制仿真研究

为提高液压执行机构控制系统响应速度，从而降低执行机构运动位移输出误差，采用超螺旋滑模控制器，并进行仿真验证。建立回流能量调节的液压执行机构简图，定义差动阀液压流量数学模型，推导出液压执行机构动力学方程式。针对传统滑模控制器进行改进，提出超螺旋滑模控制器。给出液压执行机构超螺旋滑模控制的流程，并分析控制系统的稳定性。为进一步验证超螺旋滑模控制器输出精度，采用MATLAB软件对液压执行机构运动位移进行仿真，并且与传统滑模控制器进行对比。结果表明：采用传统滑模控制器，在空载状态下，液压执行机构运动位移与期望值偏差较小，但是在负载状态下，其偏差较大；采用超螺旋滑模控制器，在空载或者负载状态下，液压执行机构运动位移与期望值偏差都较小，执行机构反应速度较快。采用超螺旋滑模控制器，可以有效降低液压执行机构滑模控制器的抖动幅度，提高运动精度。

Simulation Research on Motion Displacement Control of Hydraulic Actuator Based on Reflux Energy Regulation

In order to improve the response speed of the hydraulic actuator control system and then reduce the motion displacement output error of the actuator,the super spiral sliding mode controller was adopted and verified through simulation.The diagram of hydraulic actuator for regulating reflux energy was created,the mathematical model of hydraulic flow of differential valve was defined,and the dynamic equations of hydraulic actuator were derived.Aiming at the improvement of the traditional sliding mode controller,a super spiral sliding mode controller was proposed.The process of the super spiral sliding mode control of the hydraulic actuator was given,and the stability of the control system was analyzed.In order to further verify the output accuracy of the super screw sliding mode controller,MATLAB software was used to simulate the motion displacement tracking of the hydraulic actuator,and compared with the traditional sliding mode controller.The results show that by using the traditional sliding mode controller,in the no-load state,the deviation between the motion displacement of the hydraulic actuator and the expected value is small,but in the load state,the deviation is large;when the super screw sliding mode controller is used,the deviation between the motion displacement and the expected value of the hydraulic actuator is small,and the response speed of the actuator is fast.The super spiral slide mode controller can be used to effectively reduce the vibration amplitude of the sliding mode controller and improve the motion accuracy of the hydraulic actuator.