振动与力加载耦合的电液伺服控制

Electro-hydraulic servo control system with coupling between vibration and force loading

中文关键词  电液伺服控制  振动与力加载耦合  干扰观测器  逆模型  传递函数辨识

英文关键词  electro-hydraulic servo control  coupling between vibration and force loading  disturbance observer  inverse model  transfer function identification

中文摘要

      振动与力加载耦合的电液伺服系统具有集成模拟被测试件在振动与加载耦合工况下动态性能的优势, 针对振动模拟对力加载系统产生的干扰多余力问题, 提出了一种力干扰观测器, 以提高加载力跟踪精度. 首先, 建立了振动与力加载耦合的电液伺服控制系统的数学仿真模型; 其次, 利用递推增广最小二乘算法辨识了力加载系统闭环传递函数; 然后, 利用零相差跟踪技术设计了力加载系统的前馈逆模型; 最后, 设计了力干扰观测器, 搭建了水平向振动与力加载耦合的电液伺服系统实验台, 仿真和实验验证了提出的力干扰观测器可有效降低由于振动扰动而产生的干扰多余力.

英文摘要

      An electro-hydraulic servo system with coupling between vibration and force loading has the advantage of simulating dynamic performance of the test specimen subjected to simultaneously vibration and force loading. In order to compensate a surplus force disturbance caused by active motion of the electro-hydraulic system with shaking table and force simulator, a disturbance observer is proposed to improve the force loading tracking performance. First, a mathematical simulation model of the electro-hydraulic servo system with coupling between vibration excitation and force loading is established. Then, a recursive extended-least squares algorithm is employed to identify the transfer function of the force closed-loop system, and a zero phase error compensation technology is employed to design the inverse model of the force loading closed-loop system, based on which the disturbance observer is designed. Simulation and experimental results were carried out using the electro-hydraulic experimental system with shaking table and force loading simulator, and it is verified that the force loading disturbance observer can eliminate the surplus force caused by the coupling between vibration and force loading.