一个新的分离订单的一般化前设计,用于节能电液系统中的运动控制,具有比例和积分反
Aniruddha Sarkar1, Sibsankar Dasmahapatra2, Shouvik Chaudhuri3
1Department of Mechanical Engineering, Jadavpur University, 188 Raja SC Mallick Road, Kolkata 700032, India.
ISA transactions
|January 26, 2024
概括
一个新的前比例整体 (FFPI) 控制器为液压气提供了更好的性能. 与现有方法相比,这种先进的控制策略提供了更精确,更顺的响应,并节省了能源.
科学领域:
- 控制系统工程 控制系统工程
- 流体动力系统 流体动力系统
- 机器人技术 机器人技术 机器人技术
背景情况:
- 现有的前 (FF) 控制器依赖于差异平面模型,通常对液压气进行简化假设.
- 当前的模型解决单个非线性 (例如,泄漏,压缩性,摩擦),但缺乏概括性.
- 紧的双作用单杆气具有独特的建模挑战.
研究的目的:
- 开发一种新的,通用化的前进-比例-整合 (FFPI) 控制器,用于各种--组合.
- 提高液压系统的排位跟踪精度和能源效率.
- 通过解决多个非线性,克服现有控制器的局限性.
主要方法:
- 开发了一个基于最高级不可压缩流量假设的通用FFPI控制器.
- 在实验室设置中实现了FFPI控制器,用于追踪高达9Hz的位移.
- 通过最小化模拟实验偏差和通过稳定性分析选择PI收益来估计FF参数.
- 与仅PI控制器和现有的非线性自适应控制器相比,FFPI性能进行了比较.
主要成果:
- 与现有的控制器相比,FFPI控制器在更广泛的频率范围内实现了更精确,更流的响应.
- 与具有相同可变位移的PI-only控制器相比,证明了显著的节能潜力.
- 显示更短的过渡时间和更高的抵御测量噪声的弹性.
- 在较低的控制成本下实现了可比或更好的性能,但相位变化的权衡较小.
结论:
- 新型FFPI控制器为液压气应用提供了卓越的性能,能源效率和稳定性.
- 这种通用方法提供了一个更全面的解决方案,与控制器解决单个非线性相比.
- FFPI控制器为流体功率控制系统提供了一个有希望的进步,特别是在苛刻的应用中.
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