新型一体化电液复合缸的控制方法研究

The speed regulation range and holding force of the electric cylinder are small. The hydraulic cylinder can’t balance control precision between high speed movement and low speed movement., According to the advantages and shorting of the electric cylinder and hydraulic cylinder, the project proposes an novel integrated electro-hydraulic composite cylinder with electric the advantages of electric cylinder and the hydraulic cylinder. And the control method of the composite cylinder is studied. Firstly , the working mechanism of composite cylinder is analyzed, and the mathematical models of different working modes are established. Secondly, a collaborative optimization control strategy combined with dynamic control allocation is put forward to solve the output coupling problem of electric cylinder and hydraulic cylinder. Then, an adaptive robust control algorithm based on instruction filter is proposed for control of composite cylinders under different working modes. And an energy saving control method based on load balancing is proposed for high-precision position control of electric cylinder and hydraulic cylinder under active and negative load conditions. Finally, the experimental platform is set up to test the working mechanism, working mode and the control method of composite cylinder. The research of this project is expected to solve the collaborative optimization control problem of electro-hydraulic composite cylinder, so as to promote its application and is expected to be widely applied in the field of weaponry and industrial and agricultural production.

针对广泛应用的直线运动执行元件——电动缸和液压缸各自的优点，以及电动缸调速范围和保持力小、制动性能差，液压缸无法兼顾高速和低速控制精度的问题，本项目提出一种同时具有电动缸和液压缸各自优点的新型一体化电液复合缸，并对其控制方法进行研究。首先分析了电液复合缸工作机理，建立不同工作模式下的数学模型；其次，提出了结合动态控制分配的协同优化控制策略，解决电动缸和液压缸的输出耦合问题。然后，提出了基于指令滤波器的鲁棒自适应控制算法和基于负载平衡的节能控制方法，完成不同工作模式下复合缸的高效控制、主被动负载工况下的高精度位置控制。最后，搭建实验平台对电液复合缸工作机理、工作模式及所研究控制方法进行试验验证。本项目的研究可望解决电液复合缸协同优化控制问题，推动其实用化，使其广泛应用于武器装备和工农业生产领域。

针对广泛应用的直线运动执行元件——电动缸和液压缸各自的优点，以及电动缸调速范围和保持力小、制动性能差，液压缸无法兼顾高速和低速控制精度的问题，本项目首先设计试制了一种同时具有电动缸和液压缸各自优点的新型一体化电液复合缸，分析了电液复合缸工作模式并建立了复合缸不同工作模式下的数学模型；其次，针对电液复合缸核心元件伺服电机，提出了基于低阶自适应瞬时速度估计和负载观测补偿的高性能永磁同步电机驱动控制方法以及电机控制器参数整定方法，提高了电液复合缸的控制性能；然后，提出了基于鲁棒自适应控制算法和基于负载平衡的节能控制方法，完成了不同工作模式下电液复合缸的高效控制、主被动负载工况下的高精度位置控制。最后，搭建了电液复合缸实验平台，验证了复合缸的工作机理、工作模式及所研究控制方法的有效性。本项目的研究已经应用于稳定平台、无人车、轮足机器人等系统中，将来有望应用于更广阔的国防和工农业生产领域。