三向地震模拟平台控制系统的研究
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摘要
在对厦门科技馆三向六液压缸地震模拟平台系统分析的基础上,针对x、y、z轴各液压缸往返运动的非线性,z轴4个液压缸的同步难,稳态误差大,控制实时性要求高等问题,采用参考面积比整定x和y轴往返运动的参数,用实验法整定z轴4个液压缸往返运动的参数,实现了各液压缸的非线性补偿.用位移、位移差和速度差组成的双闭环结构动态修正PID参数的自适应算法,实现了z轴4个液压缸的同步控制,用零点补偿解决了液压系统的泄漏和液压缸死区造成的稳态误差,用上下位机的计算机控制结构实现了多输入、多输出系统的实时控制.
By analyzing the hydraulic system of the earthquake simulation platform in Xiamen science and technology museum,a nonlinear compensation approach for three-direction six hydraulic cylinder system is proposed,where the reciprocating movement parameters along x and y axles are adjusted according to reference area ratios,and ones of 4 cylinders in z-direction are set by experiments,so the non-linear compensations for each cylinder are achieved.The double close loops system composing of position error and velocity error is employed to turn the PID parameters adaptively.In addition,the steady errors caused by the leakage and dead-zone of the hydraulic cylinder can be compensated with zero compensation method.The whole algorithm is implemented on a host-servo MIMO real time control.
By analyzing the hydraulic system of the earthquake simulation platform in Xiamen science and technology museum,a nonlinear compensation approach for three-direction six hydraulic cylinder system is proposed,where the reciprocating movement parameters along x and y axles are adjusted according to reference area ratios,and ones of 4 cylinders in z-direction are set by experiments,so the non-linear compensations for each cylinder are achieved.The double close loops system composing of position error and velocity error is employed to turn the PID parameters adaptively.In addition,the steady errors caused by the leakage and dead-zone of the hydraulic cylinder can be compensated with zero compensation method.The whole algorithm is implemented on a host-servo MIMO real time control.
引文
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[9]江小霞,卢长耿.热连轧机液压压下系统的动态测试系统的研究[J].液压与气动,2006(4):7-9.JIANG Xiaoxia,LU Changgeng.Study on the dynam-ic testing system of hot rolling mill’s hydraulic pres-sure down system[J].Chinese Hydraulics&Pneu-matics,2006(4):7-9.
[2]王燕华,陈文瀼,陆飞,等.地震模拟振动台的发展[J].工程抗震与加固改造,2007,29(5):53-56,67.WANG Yanhua,CHENG Wenrang,LUFei,et al.De-velopment of the shaking table[J].Earthquake Resist-ant Engineering and Retrofitting,2007,29(5):53-56,67.
[3]贾丽花.电液伺服地震模拟振动台控制算法的研究与实现[D].北京:北京交通大学电子信息工程学院,2007.
[4]陈建秋.六自由度模拟地震振动台台面控制原理研究[J].广州大学学报(自然科学版),2006,5(3):75-79.CHENJianqiu.Analysis of DOF and table control of seismic si mulation system[J].Journal of Guangzhou University:Natural Science Edition,2006,5(3):75-79.
[5]CLARKE D W.PID algorithms and their computer i mplementation[J].Trans Instn of Measurement and Control,1984,6(6):305-316.
[6]李长春,孟亚东,刘晓东,等.电液伺服系统的同步控制研[J].兵工学报,2007(6):765-768.LI Changchun,MENG Yadong,LI U Xiaodong,et al.Motion synchronization of electro-hydraulic servo sys-tem[J].Acta Armamentarii,2007(6):765-768.
[7]LI K.Electro-hydraulic proportional control of twin-cylinder hydraulic elevators[J].Control Engineering Practice,2001(4):367-373.
[8]杨德荣,权龙.用电液伺服阀补偿同步偏差的同步控制方法[J].液压与气动,2001(9):7-9.YANG Delong,QUAN Long.A synchronous control method by using electronic-hydraulic servo valve to compensate synchronous error[J].Chinese Hydrau-lics&Pneumatics,2001(9):7-9.
[9]江小霞,卢长耿.热连轧机液压压下系统的动态测试系统的研究[J].液压与气动,2006(4):7-9.JIANG Xiaoxia,LU Changgeng.Study on the dynam-ic testing system of hot rolling mill’s hydraulic pres-sure down system[J].Chinese Hydraulics&Pneu-matics,2006(4):7-9.
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