Optimal control simulation of elliptical shaft center orbit with the hydraulic servo system
Optimal control simulation of elliptical shaft center orbit with the hydraulic servo system
复制标题
液压伺服系统椭圆轴中心轨迹优化控制仿真
DOI：
10.1177/0954405417728307
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发表时间：
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影响因子：
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通讯作者：
Fazhan Yang
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文献类型：
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作者：
Peng Liang;Changhou Lu;Fazhan Yang
针对椭圆孔的镗削加工，提出了液压伺服系统和控制轴心运动轨迹的方法。考虑到配点较少时的控制困难，采用最优控制方法解决配点较少时的控制困难。应用航天领域常用的高斯伪谱方法，得到了轴承轴心坐标与承载能力的关系。并利用流量连续性方程推导了负载能力与伺服阀阀芯位移的关系。经过以上两步，最终得到了轴心坐标与阀芯位移之间的数学关系。仿真结果表明，与欧拉控制方法相比，最优控制方法具有更好的自适应性、更快的控制速度和更高的控制精度。即使轴心运动起点不在期望椭圆轨道上，或者轴受到瞬时外力或动力的扰动，最优控制方法仍能使轴心轨道快速接近期望椭圆。为椭圆孔的镗削新方法奠定了理论基础。
To bore elliptical hole, the present research proposes hydraulic servo system and the control method to control the shaft center movement orbit. Considering the control difficulty when there are a small number of collocation points, the present research uses optimal control method to solve the control difficulty. Gauss pseudospectral method, which is often used in aerospace field, is applied to obtain relation between shaft center coordinate and load capacity of bearing. And the relation between load capacity and servo valve spool displacement is deduced with flow continuity equation. After the two steps above, the mathematic relation between shaft center coordinate and spool displacement is eventually obtained. The simulation results indicate that compared to the Eulerian control method, optimal control method has better self-adaptation, faster control rate, and higher control accuracy. Even if the starting movement point of shaft center is not on the expected elliptical orbit, or shaft is disturbed by instantaneous external force or dynamical force, the optimal control method still makes the shaft center orbit quickly get close to the expected ellipse. The present research lays theoretical foundation for new boring method of elliptical hole.