隨著計(jì)算機(jī)技術(shù)在工程控制中的廣泛應(yīng)用與發(fā)展

1、.摘要隨著計(jì)算機(jī)技術(shù)在工程控制中的廣泛應(yīng)用與發(fā)展，電液控制系統(tǒng)及其元件的數(shù)字化成不一種發(fā)展趨勢(shì)。采用開關(guān)閥實(shí)現(xiàn)電液伺服控制是一種簡(jiǎn)便有效的方法，是流體傳動(dòng)控制的一個(gè)新方向。廣義脈碼調(diào)制（GPCM）應(yīng)付壓伺服控制是采用開關(guān)閥實(shí)現(xiàn)伺服控制的一種新方法，它以普通開關(guān)閥為基本控制元件，是一種廉價(jià)、實(shí)用的電液開關(guān)伺機(jī)服控制，其適合流量論與實(shí)驗(yàn)兩個(gè)方面對(duì)其進(jìn)行了深入地研究。本文闡述了脈碼調(diào)制（PCM）控制機(jī)理及其基本特性，建立了幾種典型的PCM液壓控制回路，并在此基礎(chǔ)上針對(duì)傳統(tǒng)PCM液村控制所固有的控制精度與控制范圍、穩(wěn)定性與快速性之間矛盾，首次提出了GPCM控制予以解決，通過理論分析，建立了FPCM控制

2、液壓伺服系統(tǒng)的數(shù)學(xué)模型，為系統(tǒng)的靜態(tài)和動(dòng)態(tài)特性分折打下了基礎(chǔ)，利用描述函數(shù)與相平面非線性分析方法，首次對(duì)GPCM液壓控制系統(tǒng)穩(wěn)定性進(jìn)行了深使其實(shí)現(xiàn)大流量輸出。能夠在滿足控制精度的前提下，具有較大的調(diào)速范圍。解決了控制精度與控制范圍、穩(wěn)定性與快速性之間的矛盾。首次對(duì)廣義脈碼調(diào)制閥的內(nèi)部壓力與流量分布的關(guān)系進(jìn)行了研究，得出了閥內(nèi)壓力沿液體流動(dòng)方向的變化規(guī)律，此規(guī)律合理設(shè)置GPCM控制閥的各流量控制基元位置?？杀ＷC較準(zhǔn)確地控制閥流量。對(duì)GPCM控制的液壓位置伺服控制系統(tǒng)進(jìn)行的理論仿真分析，設(shè)計(jì)出了一種適用于GPCM控制液壓伺機(jī)服系統(tǒng)的控制策略，它是一種混合控制方式，由Bang-Bang控制、PID控

3、制和模糊控制構(gòu)成。它的特點(diǎn)是在進(jìn)行設(shè)計(jì)時(shí)不依賴于系統(tǒng)的精確數(shù)學(xué)模型，試驗(yàn)研究得到了預(yù)期控制效果。最后將GPCM控制液壓位置伺服系統(tǒng)應(yīng)用于多節(jié)式面器有的伺服驅(qū)動(dòng)，研究了多關(guān)節(jié)的協(xié)調(diào)控制和在這種驅(qū)動(dòng)方式的機(jī)械手定位與跟蹤控制，取得了滿意的效果。關(guān)鍵詞：廣義脈碼控制，電液控制，仿真，機(jī)器有控制;BSTRACTAs the computer technology is widely used developed, digitization of electro-hydraulic control system and their components is a direction for progre

4、ss. Electro-hydraulic servo control with on/off valves is a simple and efficient means, and a new development direction in fluid power transmission and control. The generalized pulse code modulation (GPCM) control hydraulic servo control with type of electro-hydraulic switch flow rate speed control

5、and foul work control, system, which has high flow rate wide speed control range and foul work conditions. Theoretical and experimental studies of GPCM control are carried our in the thesis.The mechanism of pulse code modulation (PCM) control is described and several typical circuits of PCM control

6、are established, The generalization (GPCM)is proposed for the first time to solve the contradictions between the control precision and range, and between the stability and speed of PCM control system. Through the theoretical analysis the mathematics model of GPCM hydraulic control is constructed, an

7、d it provides the base for study of GPCM control system. By means of the nonlinear analysis tools the GPCM control system is studied profoundly and the results verify that the GPCM control can realize the stable operation for electro-hydraulic control system Moreover the GPCM control can realize the

8、 stable operation for electro-hydraulic control system. Moreover, the method go determind minimum orifice areas of GPCM is inferred, and the coding rule also is studied. All these studies make sure that the GPCM control system can obtain good performance of control precision and large speed regulati

9、on range. To take advantage of computational fluid dynamics (CFD), the theoretical analysis for the relation between the pressure distribution and flow rate following the flow direction in the GPCM valve is performed, and the results can be used to design the GPCM valve structure.A position servo co

10、ntrol system is set up with a GPCM valve and hydraulic cylinder, The control strategy for the system is strategy for the system is proposed by theoretical and simulation research It is a hybrid control strategy which include Bang control PID control fuzzy control. It does nor depend on the system mo

11、del precision and having the good performance verified by experiments.Finally, the GPCM position servo system is served as a driven unit for a multi-joints manipulator and the manipulator and tracking control are studied The parameters of each controller of the manipulator is tuned to maintain that all joints move in harmony