双控制回路电静液作动器建模及控制器设计

针对典型电静液作动器存在响应速度较慢的问题,将伺服阀引入其中,采用压力和位置双控制回路体系,阐述了其工作原理和建立了数学模型。同时作动器作为参数不确定性和外负载力变化的系统,在压力控制回路中,考虑其不确定性范围和性能指标要求基础上,基于定量反馈理论(QFT)设计了压力控制器。在位置控制回路中,运用动态压力校正伺服阀流量,消除外负载力的影响;并把位置误差引入压力控制回路,以提高其响应速度。仿真结果表明,其综合性能较好且便于工程实现。

Modeling and Controller Design for Dual Control Circuit Electro-hydrostatic Actuator

Aiming at the problem of slow response speed which existed in the typical electro-hydro-static actuator(EHA),servo valve is introduced and adopt dual control circuit system with pressure and position,de-scribes the operating principle and creates the mathematic model. Meanwhile as a system which the parameter uncer-tain and external load change,considers both the uncertainty rang and the performance indexes of the pressure control circuit,pressure controller is designed based on Quantitative Feedback Theory (QFT). Apply to dynamic pressure modifying the flow rate of the servo valve and eliminate effects of external load in the position control circuit,the posi-tion error is added to the pressure control circuit to increase the dynamic response of the pressure control circuit. The simulation results showed that the dual control circuit actuator is perfect in comprehensive performance and easy engi neering practice.