【摘要】 在对厦门科技馆三向六液压缸地震模拟平台系统分析的基础上,针对x、y、z轴各液压缸往返运动的非线性,z轴4个液压缸的同步难,稳态误差大,控制实时性要求高等问题,采用参考面积比整定x和y轴往返运动的参数,用实验法整定z轴4个液压缸往返运动的参数,实现了各液压缸的非线性补偿.用位移、位移差和速度差组成的双闭环结构动态修正PID参数的自适应算法,实现了z轴4个液压缸的同步控制,用零点补偿解决了液压系统的泄漏和液压缸死区造成的稳态误差,用上下位机的计算机控制结构实现了多输入、多输出系统的实时控制.更多还原

【Abstract】 By analyzing the hydraulic system of the earthquake simulation platform in Xiamen science and technology museum,a nonlinear compensation approach for three-direction six hydraulic cylinder system is proposed,where the reciprocating movement parameters along x and y axles are adjusted according to reference area ratios,and ones of 4 cylinders in z-direction are set by experiments,so the non-linear compensations for each cylinder are achieved.The double close loops system composing of position error and velocity error is employed to turn the PID parameters adaptively.In addition,the steady errors caused by the leakage and dead-zone of the hydraulic cylinder can be compensated with zero compensation method.The whole algorithm is implemented on a host-servo MIMO real time control.更多还原