Full- and reduced-order model of hydraulic cylinder for motion control
Full- and reduced-order model of hydraulic cylinder for motion control
复制标题
用于运动控制的液压缸全阶和降阶模型
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
M. Ruderman
中科院分区：
文献类型：
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作者：
M. Ruderman
本文介绍了适用于系统动力学分析和运动控制设计的驱动液压缸的全阶和降阶模型。全阶模型将阀芯动力学与死区和饱和非线性相结合-孔板流量固有的非线性。它包括液压回路的连续性方程与液压缸驱动机械部分的动力学耦合。所得模型为五阶非线性状态模型。简化模型忽略了快速阀芯动态，简化了孔口和连续性方程，通过聚合，并认为缸杆速度作为感兴趣的输出。简化的模型是二阶的，便于研究系统的行为，并允许直接相平面分析。动力学特性的细节，这两个模型，重点是频率响应，系统阻尼，和状态轨迹相关的负载压力和相对速度。
This paper describes the full- and reduced-order models of an actuated hydraulic cylinder suitable for system dynamics analysis and motion control design. The full-order model incorporates the valve spool dynamics with combined dead-zone and saturation nonlinearities — inherent for the orifice flow. It includes the continuity equations of hydraulic circuits coupled with the dynamics of mechanical part of cylinder drive. The resulted model is the fifth-order and nonlinear in states. The reduced model neglects the fast valve spool dynamics, simplifies both the orifice and continuity equations through an aggregation, and considers the cylinder rod velocity as output of interest. The reduced model is second-order that facilitates studying the system behavior and allows for direct phase plane analysis. Dynamics properties are addressed in details, for both models, with focus on the frequency response, system damping, and state trajectories related to the load pressure and relative velocity.