【摘要】 双液压缸电液比例位置呈现静态与动态复杂变化，总扰动大，导致同步控制精度低。提出了一种针对双液压缸的电液比例位置同步控制方法。首先，构建双液压缸电液比例控制系统的数学模型；其次，根据系统数学模型推导动力学方程，在此基础上分析双液压缸电液比例控制系统的静态特性和动态特性；提出“同等+主从”控制策略，建立线性自抗扰同步控制器，估计并补偿双液压系统在运行过程中产生的总扰动，同时建立死区补偿器，以减小位置同步控制过程中的稳态误差，实现双液压缸电液比例位置的同步控制。实验结果表明，所提方法在x方向和y方向中，跟踪误差均控制在±1 mm以内，且超调量较小；最低可在0.51 s内达到阶跃期望位置，表现出了良好的效率和精度，具有一定应用价值。更多还原

【Abstract】 The electro-hydraulic proportional position of dual hydraulic cylinders presents complex static and dynamic changes, and the total disturbance is large, resulting in low synchronization control accuracy. An electro-hydraulic proportional position synchronization control method for dual hydraulic cylinders is proposed. Firstly, the mathematical model of the electro-hydraulic proportional control system with double hydraulic cylinders is constructed; Secondly, according to the mathematical model of the system, the dynamic equation is derived, and on this basis, the static and dynamic characteristics of the electro-hydraulic proportional control system with dual hydraulic cylinders are analyzed; A “equal+master-slave” control strategy is proposed, and a linear auto-disturbance-rejection synchronous controller is established to estimate and compensate the total disturbance generated by the dual hydraulic system during operation. At the same time, a dead zone compensator is established to reduce the steady-state error in the process of position synchronization control and realize the synchronization control of the electro-hydraulic proportional position of the dual hydraulic cylinders. The experimental results show that the tracking error of the proposed method is controlled within ±1mm in the x and y directions, and the overshoot is small; The lowest step expected position can be reached within 0.51s, which shows good efficiency and accuracy, and has certain application value.更多还原