摘要
为分析不同控制方法在阀控液压马达角位移控制系统中的应用效果,分别基于PID闭环控制、极点配置法及含有状态观测器的极点配置法对阀控液压马达角位移随动系统动态特性进行对比研究。首先,简要介绍了阀控液压马达系统的工作原理;其次,分别建立了阀控液压马达角位移控制系统的传递函数、方框图及状态空间表达式,并对该系统的时-频域特性与能控-能观测性进行分析;在此基础上,分别基于3种控制方法对阀控液压马达角位移控制系统进行设计,并利用MATLAB/Simulink软件对系统阶跃响应进行了仿真分析,以对比各控制方法在阀控液压马达系统中的应用效果以及状态观测器极点位置对系统动态特性的影响,为改善阀控液压马达系统的动态特性提供理论依据。
In order to analyze the application effect of different control methods in the valve controlled hydraulic motor angular displacement control system,the dynamic characteristics of the valve controlled hydraulic motor angular displacement servo system are compared based on PID closed-loop control,pole assignment method and pole assignment method with state observer.Firstly,the working principle of the valve controlled hydraulic motor system is briefly introduced;secondly,the transfer function,block diagram and state space expression of the valve controlled hydraulic motor angular displacement control system are established respectively,and the time-frequency characteristics and controllability observability of the system are analyzed;on this basis,the angle displacement control system of the valve controlled hydraulic motor is developed based on three control methods respectively The step response of the system is simulated and analyzed by MATLAB/Simulink software to compare the application effect of each control method in the valve controlled hydraulic motor system and the influence of the pole position of the state observer on the system dynamic performance,so as to provide a theoretical basis for improving the control characteristics of the valve controlled hydraulic motor system.
作者
闫政
YAN Zheng(Mechanics Institute, Jinzhong University, Jinzhong, Shanxi 030600)
出处
《液压与气动》
北大核心
2020年第6期43-51,共9页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金(51675364)
山西省应用基础研究计划项目(201901D111300)。
关键词
阀控液压马达
极点配置法
状态观测器
控制特性
valve controlled hydraulic motor
pole assignment method
state observer
control characteristics
