液压与气动2026，Vol.50Issue(9)：11-18,8.DOI:10.11832/j.issn.1000-4858.2026.09.002
有限转角力矩电机直驱液压伺服转阀高精度控制
High-precision Control of Direct-drive Hydraulic Servo Rotary Valve via Limited-angle Torque Motor
摘要
Abstract
To address the coupled disturbances of inductance lag faced by the limited-angle torque motor and the high-stiffness rotary flow forces of the direct-drive servo rotary valve,a dual-model feedforward discrete integral sliding mode control strategy is proposed.To solve the issues of a long initial dead zone and steady-state high-frequency chattering in traditional pure sliding mode control,this strategy introduces a mechanical model feedforward to actively cancel the return spring and steady-state flow forces,effectively unloading elastic loads and suppressing chattering.Furthermore,to overcome the response lag limitation caused by the lack of over-drive in the single mechanical feedforward,this strategy superimposes an inverse electrical model feedforward to generate an over-drive voltage at the instant of command mutation,actively overcoming the coil inductance lag.High-fidelity comparative simulations indicate that this strategy compresses the initial dead zone to 0.6 ms and further shortens the step rise time by 38.5%to 8.0 ms compared to the single feedforward scheme.Bench tests at 7 MPa further verify the actual effectiveness of the strategy,showing a measured step rise time of approximately 8.2 ms and a steady-state tracking error converging to 0.04°.关键词
直驱伺服转阀/有限转角力矩电机/离散积分滑模控制/双重模型前馈/非线性鲁棒控制Key words
direct-drive servo rotary valve/limited-angle torque motor/discrete integral sliding mode control/dual-model feedforward/nonlinear robust control分类
机械制造引用本文复制引用
史有程,李雨泽,王泽阳..有限转角力矩电机直驱液压伺服转阀高精度控制[J].液压与气动,2026,50(9):11-18,8.基金项目
国家重点研发计划(2022YFC2805703) （2022YFC2805703）
兰州理工大学青年教师学科交叉研究培育项目(LUTXKJC-26004) （LUTXKJC-26004）
