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针对经典泵控电液作动器固有频率低的问题,对原系统增加了一个新设计的总压力控制阀,它可保证作动筒两个工作腔的压力之和始终为一常数并使两腔压力可控,从而使泵控系统达到和阀控系统相当的固有频率.这种改进型作动器称为EHCA(Electro-Hy-draulic Compound regulating integrated Actuator).针对存在的相乘非线性控制问题,通过分析EHCA和总压力控制阀的工作原理,设计了基于精确线性化方法的滑模控制器,并分析了电机转速和变量泵排量在不同工况下的控制量大小配合问题.分析和仿真证明,该设计思想是有效实现高效率、节能和快响应的电液组合作动器方案.
In view of the low natural frequency of the classical pump-controlled electro-hydraulic actuator, a newly designed total pressure control valve is added to the original system, which ensures that the sum of the pressures of the two working chambers of the actuator is always constant and the two The cavity pressure can be controlled so that the pump control system reaches the natural frequency equivalent to the valve control system.The improved actuator is called EHCA (Electro-Hy-draulic Compound regulating integrated Actuator) Problem, by analyzing the working principle of EHCA and total pressure control valve, a sliding mode controller based on precise linearization method is designed and the matching of motor speed and variable displacement of pump under different operating conditions is analyzed. Simulation results show that this design idea is an electro-hydraulic combined actuator that can effectively realize high efficiency, energy saving and fast response.