机械科学与技术2012，Vol.31Issue(9)：1458-1462,5.
挖掘机电液比例控制系统非线性建模与分析
Nonlinear Modeling and Analysis of Electro-hydraulic Proportional Control System for Excavator
黎波 1严骏 1郭刚 1曾拥华 1钱海波1
作者信息
- 1. 解放军理工大学工程兵工程学院,南京210007
- 折叠
摘要
Abstract
In order to control excavator automatically, an excavator was retrofitted with electro-hydraulic control system. Nonlinear models for electro-hydraulic proportional valve and valve-controlled asymmetric cylinder were built respectively, and then the nonlinear state space model for the whole system was achieved. Simulation experi- ments showed that the steady error, delay and flat-headed effect were aroused by the dead-band nonlinearity, and also testified the dissymmetry character of valve-controlled asymmetric cylinder. According to the nonlinear charac- ter, a piecewise PID with dead-band compensation was adopt, and the comparison experiment showed that the pro- posed controller could overcome the affects of dead-band and asymmetric nonlinearities.关键词
挖掘机/电液比例控制/阀控非对称液压缸/非线性建模/分段HDKey words
excavator/electro-hydraulic proportional control/valve-controlled asymmetric cylinder/nonlinearmodeling/piecewise PID分类
机械制造引用本文复制引用
黎波,严骏,郭刚,曾拥华,钱海波..挖掘机电液比例控制系统非线性建模与分析[J].机械科学与技术,2012,31(9):1458-1462,5.
