摘要
为研究对称式三辊卷板机上辊两侧液压缸的同步控制问题,在原有单缸位置控制试验台的基础上,搭建了同步控制试验台。首先分析了试验台结构并进行了数学建模,然后基于建立的模型结合指数趋近律,设计了对系统参数变化及外干扰具有不变性的滑模控制器,最后在试验台上进行了同步控制试验,并对比分析了PID同步控制方法和滑模PID同步控制方法对系统的影响。结果表明,滑模控制有效提高了PID控制的同步精度,使得两缸动态误差控制在3mm/180mm之内,最终的位置误差控制在0.4mm/180mm之内。
In order to study the synchronization control of hydraulic cylinders on the both sides of the upper roller in symmetrical three-roller bending machine,synchronous control test bench is set up based on the original single cylinder position control test bench.Firstly,the structure of the test bench is analyzed and the mathematical modeling of the system is carried out.Then the sliding mode controller is designed which is invariant to system parameter variation and external disturbance,and the exponential approach law is considered.At last,the synchronous control test is carried out on the test bench,and the tracking accuracy of PID control and sliding mode PID control is compared and analyzed.The result shows that the sliding mode control can effectively improve the synchronization accuracy of PID control,so that the dynamic error of the two cylinders is controlled within 3mm/180mm,and the final position error is controlled within 0.4mm/180mm.
作者
吴楝华
刘志刚
焦玉全
喜冠南
WU Lian-hua;LIU Zhi-gang;JIAO Yun-quan;XI Guan-nan(Nantong University,College of Mechanical Engineering,Jiangsu Nantong 226019,China;Nantong Vocational College of Science&Technology,Mechanical and Electronic Engineering Department,Jiangsu Nantong 226007,China)
出处
《机械设计与制造》
北大核心
2018年第4期153-155,共3页
Machinery Design & Manufacture
基金
江苏省科技支撑计划项目(BE2011116)
南通市传热强化与工程节能重点实验室(CP12012004)
关键词
滑模控制
同步控制
主从控制
指数趋近律
数学建模
Sliding Mode Control
Synchronization Control
Master Slave Control
Exponential Approach Law
MathematicalModeling
