[1]李东山,吴金波.船舶轴系电液力加载装置的控制策略研究[J].机械与电子,2024,42(10):28-34.
　LI Dongshan,WU Jinbo.Research on Control Strategy of Electro-Hydraulic Loading Device of Ship Shafting[J].Machinery & Electronics,2024,42(10):28-34.
点击复制

船舶轴系电液力加载装置的控制策略研究()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
42
期数:
2024年10期
页码:
28-34
栏目:
自动控制与检测
出版日期:
2024-10-30

文章信息/Info

Title:
Research on Control Strategy of Electro-Hydraulic Loading Device of Ship Shafting
文章编号:
1001-2257 ( 2024 ) 10-0028-07
作者:
李东山; 吴金波
华中科技大学船舶与海洋工程学院,湖北 武汉 430074
Author(s):
LI Dongshan ;  WU Jinbo
( School of Naval Architecture and Ocean Engineering , Huazhong University of Science and Technology , Wuhan 430074 , China )
关键词:
扰动观测器; 前馈补偿; 力加载装置; 电液伺服系统
Keywords:
disturbance observer ;  feedforward compensation ;  loading device ;  electro-hydraulic servo system
分类号:
TP23
文献标志码:
A
摘要:
为了在实验室环境下模拟船舶轴系的推力载荷,以一种基于可变容积的电液力加载装置为研究对象,建立了系统的数学模型,分析指出轴系轴向扰动位移是影响加载力控制精度的关键因素,从而提出了一种基于扰动观测器补偿的复合控制策略。本加载装置由加载液压缸、承压筒和液压阀件等组成,包含了内部油液压力传感器和加载力传感器。首先,为提升系统的稳定性,构建了压力反馈半闭环的控制框架;然后,为了补偿轴系扰动位移对加载力的影响,采用扰动观测器将扰动位移等效在控制输入端,并引入补偿;最后,基于数值仿真和试验结果验证了所提控制策略的有效性。仿真和试验结果均表明,所设计的复合控制策略能有效抑制加载力波动。
Abstract:
In order to simulate the load of the ship shafting in the laboratory environment , an electro hydraulic loading device based on controllable varied volume of contained liquid was studied in this paper. The mathematic model of this device was deduced.Based on the analysis of the model , the key factor that affects the accuracy of loading force control was the axial movement of the rotatory shafting.A novel composite control strategy based on a modified disturbance observer and feedforward compensation was proposed.The loading device was composed of loading hydraulic cylinder , enclosed vessel and hydraulic valves. Firstly , a semi-closed-loop pressure control structure was constructed to improve the stability of the system.Then , to attenuate the load force fluctuation , a disturbance observer was used to estimate an equivalent disturbance from axial movement.The compensation was introduced at the control input by using the equivalent disturbance.Finally , the effectiveness of the proposed control strategy was verified by numerical simulations and field experiments.It is shown that the designed composite control strategy could attenuate the load force fluctuation effectively.

参考文献/References:

[ 1 ] 郑大可 . 新型电液负载模拟器的设计及其关键技术的研究[ D ] . 哈尔滨:哈尔滨工业大学,2014.

[ 2 ] YAO J Y , JIAO Z X , YAO B.Robust control for static loading of electro-hydraulic load simulator with friction compensation [ J ] .Chinese journal? of aeronautics ,2012 , 25 ( 6 ): 954-962.
[ 3 ] 周挺,程华,张今朝 . 电液伺服六自由度复合加载装置控制系统[ J ] . 现代制造工程, 2021 ( 3 ): 120-126.
[ 4 ] 郜立焕,王佃武,生凯章 . 液压系统振动与噪声的原因分析[ J ] . 液压与气动, 2005 ( 12 ): 73-74.
[ 5 ] 彭敬辉,李松晶, JACOB M M. 电磁力与射流流场中压力脉动作用下伺服阀力矩马达谐响应分析[ J ] . 工程力学,2013 , 30 ( 2 ): 348-353.
[ 6 ] TRUONG D Q , AHN K K.Parallel control for electro hydraulic load simulator using online self tuning fuzzy PID technique [ J ] .Asian journal of control , 2011 , 13( 4 ): 522-541.
[ 7 ] 安惠 . 泵阀复合电液加载方法的理论分析与研究[ D ] .太原:太原理工大学,2015.
[ 8 ] SHANG Y X , LI X B , QIAN H , et al.A novel electro hydrostatic actuator system with energy recovery module for more electric aircraft [ J ] .IEEE Transactions on industrial electronics , 2019 , 67 ( 4 ): 2991-2999.
[ 9 ] 项浩圆 . 基于数字孪生的电静液作动器热特性研究[ D ] . 杭州:浙江大学,2023.
[ 10 ] 杨帅 . 船舶推进轴系推力轴承润滑性能的仿真和试验研究[ D ] . 西安:西安理工大学,2023.
[ 11 ] 王鼎 . 基于轴承动态润滑特性的船舶推进轴系振动特性研究[ D ] . 武汉:华中科技大学,2020.
[ 12 ] 汤裕 . 电液振动与加载混合试验系统控制策略研究[ D ] . 徐州:中国矿业大学,2016.
[ 13 ] MATSUI T , MOCHIZUKI Y.Effect of positive angular velocity feedback on torque control of hydraulic actuator [ J ] .Transactions of the Japan society of mechanical engineers , 1992 , 35 ( 3 ): 406-412.
[ 14 ] 郑国 . 基于改进 PSO-PID 的电动负载模拟器关键技术研究[ D ] . 太原:中北大学,2024.
[ 15 ] 彭诚,王兵,郭皓源,等 . 基于非奇异负载转矩观测器的永磁同步电机抗扰动控制[ J ] . 组合机床与自动化加工技术,2024 ( 4 ): 115-120.
[ 16 ] 方强,马杰,毕运波,等 . 基于扰动观测器的电动负载模拟器控制系统设计[ J ] . 浙江大学学报(工学版),2009 , 43 ( 11 ): 1958-1964.
[ 17 ] 盛敬超 . 液压流体力学 [ M ] . 北京:机械工业出版社,1980.
[ 18 ] HAO R J , WANG J Z , ZHAO J B.Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation [ C ] ∥Proceedings of the 32nd Chinese Control Conference , 2013 : 412-417.
[ 19 ] 汤天浩,谢卫 . 电机与拖动基础:第 3 版[ M ] . 北京:机械工业出版社,2018.
[ 20 ] EHSANI M S.Adaptive control of servo motor by MRAC method [ C ] ∥2007 IEEE Vehicle Power and PropulsionConference , 2007 : 78-83.
[ 21 ] ELLIS G.Control system design guide : using your computer to understand and diagnose feedback controllers [ M ] .Butterworth Heinemann : AcademicPress , 2012.
[ 22 ] 陈伯时 . 电力拖动自动控制系统:第 3 版[ M ] . 北京:机械工业出版社,2003.
[ 23 ] 王春行 . 液压控制系统 [ M ] . 北京:机械工业出版社,2004.
[ 24 ] KIM B K , CHUNG W K.Advanced design of disturbance observer for high performance motion control systems [ C ] ∥Proceedings of the 2002 American Control Conference. New York : IEEE , 2002 , 3 :2112-2117.
[ 25 ] 何龙飞 . 基于滑模变结构控制的电液负载模拟器设计与研究[ D ] . 武汉:武汉科技大学,2021.

相似文献/References:

[1]李怀政,刘美红,陈启愉,等.基于扰动观测器的SCARA机器人运动误差补偿控制设计与仿真[J].机械与电子,2016,(09):73.
　LI Huaizheng,LIU Meihong,CHEN Qiyu,et al.Control Design and Simulation of SCARA Robot’s Motion Error Compensation Based on Disturbance Observer[J].Machinery & Electronics,2016,(10):73.

备注/Memo

备注/Memo:
收稿日期: 2024-04-14
基金项目:国家自然科学基金资助项目( 51979117 )
作者简介:李东山 ( 1999- ),男,江西抚州人,硕士研究生,研究方向为海洋工程装备制造、自动控制;吴金波 ( 1974- ),男,湖北随州人,博士,教授,研究方向为升沉补偿、智能制造和船舶自动仓储等,通信作者。
更新日期/Last Update: 2024-10-30