摘要
为提高大型装备多轴电液执行器的同步精度,建立运动系统的动态数学模型,提出一种主从同步控制方案.它由前馈控制器,卡尔曼滤波器以及PI反馈控制器组成.与位移微分并滤波相比,卡尔曼滤波器可以在噪声环境下获得平滑且相位滞后小的速度估计;前馈控制可加快系统的响应速度;采用PI控制器可以抑制模型不确定性以及负载变化对同步性能的影响.在Matlab/Simulink环境下,比较分析2种速度估计方法以及3种同步控制方法的性能.仿真结果表明,该方法响应快速并且具有较强的抵抗噪声干扰的能力.将该方法应用于实际系统中,实验结果表明,该方法具有较好的动态性能,并且能够有效克服噪声以及负载变化的影响;同步精度有效控制在±2mm之内.
To improve synchronization accuracy of large equipment multi-axis electro-hydraulic actuators, dynamic mathematical model of the system was derived and a master-slave synchronization algorithm which constituted of a feedforward controller, a Kalman filter and a proportional-integral （PI） controller was proposed. Compared with differentiation of displacement signal plus filtering, Kalman filter could obtain smooth and less phase-lag velocity signal in noisy conditions; feedforward controller could accelerate the response of the system and PI controller helped to suppress the influence of model uncertainty and varying load. These two kinds of velocity estimation algorithm and three different controllers were evaluated within Matlab/Simulink. Simulation results show that this algorithm proposed in this paper responds quickly and is not sensitive to noise. Experimental results demonstrate that this controller has a good dynamic performance and can suppress noise and load variation effectively synchronization error is limited within ±2mm.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2013年第5期755-760,共6页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金创新研究群体科学基金资助项目(51221004)
关键词
多轴电液执行器
同步控制
噪声
卡尔曼滤波
multi-axis electro-hydraulic actuators
synchronized motion control
noise
Kalman filter
