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以某型号的装药台车工作装置为研究对象,通过对其进行动力学分析,建立阀控液压缸数学模型,并结合工作装置的实际工作特点,提出了一种基于动力学补偿的轨迹控制方法。采用该控制方法,在MATLAB/Simulink软件中进行工作负载下的控制仿真,并将常规PID控制和基于动力学补偿PID控制进行了对比。仿真结果表明,基于动力学补偿的控制方法动态控制性能更好,该控制方法对于工作装置控制系统的性能提高具有理论意义。
Taking a certain type of loading trolley working device as the research object, a mathematical model of the valve-controlled hydraulic cylinder is established through the dynamic analysis of the working device, and a trajectory control based on dynamic compensation is proposed according to the actual working characteristics of the working device method. Using this control method, the control simulation under workload is carried out in MATLAB / Simulink software, and the conventional PID control is compared with the PID control based on dynamic compensation. The simulation results show that the dynamic control performance of the control method based on dynamic compensation is better, and the control method is of theoretical significance for the performance improvement of the control system of the working device.