Electrohydraulic linear actuator with two stepping motors controlled by overshoot-free algorithm
Electrohydraulic linear actuator with two stepping motors controlled by overshoot-free algorithm
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DOI：
10.1016/j.ymssp.2017.03.042
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发表时间：
2017-11-01
影响因子：
8.4
通讯作者：
Ortmann, Jaroslaw
中科院分区：
文献类型：
--
作者：
Milecki, Andrzej;Ortmann, Jaroslaw
本文介绍了以步进电机为机电转换器的电液滑阀。提出了一种双步进电机差动比例阀的新概念。这种阀改变流体流量成比例的总和或电机的步数的差异。介绍了该阀的设计和工作原理。提出了用于驱动器的所有元件的理论方程和仿真模型，即，步进电机单元、液压阀和液压缸。阀门和驱动操作的主要特点进行了说明，一些具体的问题领域涵盖的步进电机的性质和他们的差动工作的阀门也被认为是。提出了整个伺服驱动器的非线性模型，并用于进一步的仿真研究。对带有新阀的驱动器的初始仿真研究表明，驱动器阶跃响应中存在显著的超调，这在定位过程中是不允许的。因此，需要花费额外的努力来减少过冲，从而减少建立时间。为此，提出了一种特殊的预测算法。最后，对所提出的控制方法进行了仿真验证和进一步的改进。在此基础上，对模型进行了实际实现，并对整个伺服驱动系统进行了测试。本文提出的调查结果，显示了一个无过冲定位过程，使高定位精度。(C)2017爱思唯尔有限公司版权所有
The paper describes electrohydraulic spool valves with stepping motors used as electromechanical transducers. A new concept of a proportional valve in which two stepping motors are working differentially is introduced. Such valve changes the fluid flow proportionally to the sum or difference of the motors' steps numbers. The valve design and principle of its operation is described. Theoretical equations and simulation models are proposed for all elements of the drive, i.e., the stepping motor units, hydraulic valve and cylinder. The main features of the valve and drive operation are described; some specific problem areas covering the nature of stepping motors and their differential work in the valve are also considered. The whole servo drive non-linear model is proposed and used further for simulation investigations. The initial simulation investigations of the drive with a new valve have shown that there is a significant overshoot in the drive step response, which is not allowed in positioning process. Therefore additional effort is spent to reduce the overshoot and in consequence reduce the settling time. A special predictive algorithm is proposed to this end. Then the proposed control method is tested and further improved in simulations. Further on, the model is implemented in reality and the whole servo drive system is tested. The investigation results presented in this paper, are showing an overshoot-free positioning process which enables high positioning accuracy. (C) 2017 Elsevier Ltd. All rights reserved.