【摘要】：隨著科學(xué)技術(shù)的發(fā)展,人們對(duì)節(jié)能環(huán)保的要求日益提高。而液壓系統(tǒng)雖然具有功率重量比大的突出優(yōu)點(diǎn),但是,大多數(shù)傳統(tǒng)液壓系統(tǒng)在工作中使用節(jié)流調(diào)速,主要易造成能量損失大、效率低的缺點(diǎn),因而極大地限制了傳統(tǒng)液壓系統(tǒng)的應(yīng)用和普及。 伺服直驅(qū)式電液執(zhí)行器是一種新型的液壓傳動(dòng)裝置,它直接用伺服電機(jī)驅(qū)動(dòng)定量液壓泵,通過(guò)控制伺服電機(jī)的轉(zhuǎn)速,而達(dá)到改變定量液壓泵的輸出流量,從而實(shí)現(xiàn)對(duì)液壓缸的速度或位置的控制。這種新型的電液執(zhí)行器本質(zhì)上屬容積調(diào)速,克服了節(jié)流型傳統(tǒng)液壓系統(tǒng)的缺陷,具有節(jié)能、抗污染能力強(qiáng)、緊湊、安裝連接簡(jiǎn)便等顯著特點(diǎn)。 本論文正是以一種新型伺服直驅(qū)式電液執(zhí)行器為研究對(duì)象,在使用AMESim和MATLAB/Simulink進(jìn)行聯(lián)合仿真,并得出一些有益的結(jié)論的基礎(chǔ)上,借助于MATLAB RTW xPC實(shí)時(shí)控制技術(shù),搭建了基于新型伺服直驅(qū)式電液執(zhí)行器位置控制實(shí)驗(yàn)平臺(tái),實(shí)現(xiàn)了普通PID控制和模糊控制。仿真和實(shí)驗(yàn)結(jié)果表明,相比于普通PID算法,所提出的模糊控制策略,能夠大幅提高新型伺服直驅(qū)式電液執(zhí)行器的魯棒性和抗干擾能力。 本論文所開(kāi)展的主要研究工作有: 1)結(jié)合市場(chǎng)應(yīng)用情況和客戶的實(shí)際需求,以新型伺服直驅(qū)式電液執(zhí)行器為研究目標(biāo),搭建了基于MATLAB RTW Xpc的位置控制實(shí)驗(yàn)平臺(tái),軟硬件結(jié)合使用,并以研華PCI 1716多功能數(shù)據(jù)采集卡作為軟硬件交互平臺(tái),進(jìn)行信號(hào)的采集和輸出。 2)通過(guò)AMESim對(duì)實(shí)驗(yàn)平臺(tái)進(jìn)行了建模,并與MATLAB進(jìn)行了聯(lián)合仿真,將AMESim便于建模的優(yōu)點(diǎn)和MATLAB易于編寫(xiě)復(fù)雜算法的優(yōu)點(diǎn)結(jié)合在一起,為控制算法的引入搭建了軟件平臺(tái)和控制基礎(chǔ),通過(guò)控制算法仿真與分析,為實(shí)驗(yàn)樣機(jī)的調(diào)試實(shí)驗(yàn)指明了一些有益的方向。 3)在進(jìn)行了基于AMESim和MATLAB兩種軟件聯(lián)合仿真的基礎(chǔ)上,在樣機(jī)實(shí)驗(yàn)平臺(tái)上進(jìn)行數(shù)據(jù)采集及分析,實(shí)測(cè)數(shù)據(jù)表明,模糊控制算法在魯棒性和抗干擾能力方面,相較于普通PID控制,均具有較為明顯的優(yōu)越性,并能夠達(dá)到要求的控制目標(biāo),實(shí)現(xiàn)對(duì)伺服直驅(qū)式電液執(zhí)行器的理想控制。
[Abstract]:With the development of science and technology, people's demand for energy saving and environmental protection is increasing day by day. Although the hydraulic system has the outstanding advantage of large power / weight ratio, most of the traditional hydraulic systems use throttling speed regulation in the work, which is easy to cause the shortcomings of large energy loss and low efficiency. Therefore, the application and popularization of traditional hydraulic system are greatly limited. The servo direct-drive electro-hydraulic actuator is a new type of hydraulic transmission device. It drives the quantitative hydraulic pump directly with the servo motor. By controlling the speed of the servo motor, the output flow of the quantitative hydraulic pump can be changed. Thus, the speed or position of the hydraulic cylinder can be controlled. This new type of electro-hydraulic actuator is essentially a volumetric speed regulating device, which overcomes the defects of the traditional throttling hydraulic system and has the remarkable characteristics of saving energy, strong anti-pollution ability, compact and easy to install and connect. In this paper, a new type of servo direct-drive electro-hydraulic actuator is studied. On the basis of using AMESim and MATLAB/Simulink to carry out the joint simulation, some useful conclusions are drawn, and the real-time control technology of MATLAB RTW xPC is used. An experimental platform for position control of electro-hydraulic actuator based on new servo direct-drive actuator is built. The common PID control and fuzzy control are realized. The simulation and experimental results show that the proposed fuzzy control strategy can greatly improve the robustness and anti-jamming ability of the new servo direct-drive electro-hydraulic actuator compared with the conventional PID algorithm. The main research work in this paper is as follows: 1) based on the application of market and the actual demand of customers, a position control experimental platform based on MATLAB RTW Xpc is built with the new servo direct-drive electro-hydraulic actuator as the research goal. The software and hardware are used together, and the PCI 1716 multi-function data acquisition card is used as the hardware and software interactive platform to collect and output the signal. 2) the experiment platform is modeled by AMESim and simulated with MATLAB. The advantages of AMESim are combined with the advantages of MATLAB which is easy to write complex algorithms. The software platform and control foundation are built for the introduction of control algorithm. Through the simulation and analysis of the control algorithm, some useful directions are pointed out for the debugging experiment of the experimental prototype. 3) based on the joint simulation of AMESim and MATLAB software, the data acquisition and analysis are carried out on the prototype experimental platform. The measured data show that the fuzzy control algorithm is more robust and anti-jamming than the common PID control algorithm. Both of them have obvious advantages and can achieve the desired control goal and realize the ideal control of servo direct-drive electro-hydraulic actuator.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH137

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