【摘要】 在对地震模拟平台三向六液压缸系统的z轴上4个液压缸进行非线性分析的基础上,用不同的比例系数按分段控制方法进行非线性补偿,使地震平台上升和下降的运行速度保持一致;采用位移差和速度差组成的双闭环结构动态修正PID参数,实现了各轴的自适应同步控制;用零点补偿方法解决了液压系统的泄漏和液压缸的死区造成的稳态误差的问题;用补偿预估模块方便地实现了零点补偿值的自动调整。更多还原

【Abstract】 Based on the hydraulic system of earthquake simulation platform,the paper proposed a nonlinear compensation approach for three directions to six hydraulic cylinder system.The proportion of different non-linear compensation were set by step control,so that up-and-down movement of earthquake simulation platform was coordinate.A double closed loops system composing of position errors and velocity errors was employed to turn the PID parameters adaptively.The steady errors caused by the leakage and dead-zone of the hydraulic cylinder can be compensated by zero compensation method.In addition,using the forecasting module,the value of compensation was adjusted automatically and expediently.更多还原