三级阀控液压振动台控制策略研究
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摘要
对三级阀控液压振动台的控制策略进行了系统的研究,设计了应用于大流量液压振动台的一体式控制器。一体式控制器同时实现液压振动台伺服控制及振动控制功能,伺服控制中,针对三级电液伺服阀和伺服油缸提出一种双PID伺服控制策略,振动控制中,针对液压振动台良好的低频特性设计了基于闭环迭代控制的波形再现控制方法。通过一体式控制器对三级阀控液压振动台进行不同时程、不同频宽的波形再现试验,表明控制器对液压振动台具有很好的波形控制能力,实现液压振动台高精度波形再现。
The control strategy for a hydraulic shaker controlled with a 3-stage electro-hydraulic servo valve was studied here. An integrated controller was designed for a large-flow hydraulic shaker. The controller could simultaneously realize servo control and vibration control functions of the hydraulic shaker. In the process of the servo control,a dual-PID servo-control strategy was presented for the 3-stage electro-hydraulic servo valve and the servo cylinder. In the process of the vibration control,aiming at the good low-frequency characteristics of the hydraulic shaker,a waveform replication method based on a closed-loop iterative control was designed. Through the waveform replication tests with different time histories and different bandwidths on the hydraulic shaker controlled with the integrated controller,it indicated that the controller has a strong waveform control ability to achieve a high-precision waveform replication on the hydraulic shaker.
The control strategy for a hydraulic shaker controlled with a 3-stage electro-hydraulic servo valve was studied here. An integrated controller was designed for a large-flow hydraulic shaker. The controller could simultaneously realize servo control and vibration control functions of the hydraulic shaker. In the process of the servo control,a dual-PID servo-control strategy was presented for the 3-stage electro-hydraulic servo valve and the servo cylinder. In the process of the vibration control,aiming at the good low-frequency characteristics of the hydraulic shaker,a waveform replication method based on a closed-loop iterative control was designed. Through the waveform replication tests with different time histories and different bandwidths on the hydraulic shaker controlled with the integrated controller,it indicated that the controller has a strong waveform control ability to achieve a high-precision waveform replication on the hydraulic shaker.
引文
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[11]邱法维,沙锋强,王刚,等.地震模拟振动台控制技术及软件研究[J].液压与气动,2011(6):98-101.QIU Fa-wei,SHA Feng-qiang,Wang Gang,et al.Shaking table control technology and software research[J].Chinese Hydraulics and Pneumatics,2011(6):98-101.
[12]王燕华,程文瀼.地震模拟振动台运动控制性能分析[J].振动与冲击,2012,31(2):99-106.WANG Yan-hua,CHENG Wen-rang.Dynamic property of a shaking table simulating earthquake[J].Journal of Vibration and Shock,2012,31(2):99-106.
[13]林永昌.新型汽车道路模拟算法研究[J].机械工程学报,2002,38(8):41-44.LIN Yong-chang.Study on a new vehicle road simulation algorithm[J].Chinese Journal of Mechanical Engineering,2002,38(8):41-44.
[14]于慧君.电液振动试验系统长时间历程复现控制技术研究[D].杭州:浙江大学,2009.
[15]于慧君.一种加窗重叠信号平滑连接方法及其在振动信号预处理中的应用[J].振动与冲击,2007,26(8):39-40,63,168.YU Hui-jun.OLA signal smooth linking method and its application in vibration signal pre-processing[J].Journal of Vibration and Shock,2007,26(8):39-40,63,168.
[2]邱法维,钱稼茹,陈志鹏.结构抗震实验方法[M].北京:科学出版社,2000.
[3]唐贞云,李振宝,纪金豹,等.地震模拟振动台控制系统的发展[J].地震工程与工程振动,2009,29(6):162-169.TANG Zhen-yun,LI Zhen-bao,JI Jin-bao,et al.Development in shaking table control system[J].Journal of Earthquake Engineering and Engineering Vibration,2009,29(6):162-169.
[4]杨志东.液压振动台振动环境模拟的控制技术研究[D].哈尔滨:哈尔滨工业大学,2009.
[5]王向周,张先雨,王渝.三级电液伺服阀系统稳定性探讨[J].液压与气动,2001(7):9-11.WANG Xiang-zhou,ZHANG Xian-yu,WANG Yu.The approach to stabililty of the 3-stage servo valve[J].Chinese Hydraulics and Pneumatics,2001(7):9-11.
[6]刘小初,叶正茂,韩俊伟.等.基于AMESim软件的三级电液伺服阀建模与仿真[J].机床与液压,2008,36(11):135-136,149.LIU Xiao-chu,YE Zheng-mao,HAN Jun-wei,et al.Modeling and simulation of three-stage electro-hydraulic servo valve based on AMESim[J].Machine Tool and Hydraulics,2008,36(11):135-136,149.
[7]刘小初.三级电液伺服阀特性及其控制技术研究[D].哈尔滨:哈尔滨工业大学,2010.
[8]Tagawa Y,Kajiwara K.Controller development for the EDefense shaking table[J].Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2007,221(2):171-181.
[9]Stoten D P,Shimizu N.The feedforward minimal control synthesis algorithm and its application to the control of shaking-tables[J].Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2007,221(3):423-444.
[10]Ammanagi S,Poornima V,Sera A,et al.Development of a digitally-controlled three-axis earthquake shake table[J].Current Science,2006,91(2):190-203.
[11]邱法维,沙锋强,王刚,等.地震模拟振动台控制技术及软件研究[J].液压与气动,2011(6):98-101.QIU Fa-wei,SHA Feng-qiang,Wang Gang,et al.Shaking table control technology and software research[J].Chinese Hydraulics and Pneumatics,2011(6):98-101.
[12]王燕华,程文瀼.地震模拟振动台运动控制性能分析[J].振动与冲击,2012,31(2):99-106.WANG Yan-hua,CHENG Wen-rang.Dynamic property of a shaking table simulating earthquake[J].Journal of Vibration and Shock,2012,31(2):99-106.
[13]林永昌.新型汽车道路模拟算法研究[J].机械工程学报,2002,38(8):41-44.LIN Yong-chang.Study on a new vehicle road simulation algorithm[J].Chinese Journal of Mechanical Engineering,2002,38(8):41-44.
[14]于慧君.电液振动试验系统长时间历程复现控制技术研究[D].杭州:浙江大学,2009.
[15]于慧君.一种加窗重叠信号平滑连接方法及其在振动信号预处理中的应用[J].振动与冲击,2007,26(8):39-40,63,168.YU Hui-jun.OLA signal smooth linking method and its application in vibration signal pre-processing[J].Journal of Vibration and Shock,2007,26(8):39-40,63,168.
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