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外文翻译--新型直动式压电电液伺服阀复合控制方法.doc

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外文翻译--新型直动式压电电液伺服阀复合控制方法.doc

附二外文翻译HighPreciseControlMethodforaNewTypeofPiezoelectricElectrohydraulicServoValveAbstractAnewtypeofpiezoelectricelectrohydraulicservovalvesystemwasproposed.Andthenmultilayerpiezoelectricactuatorbasedonnewpiezoelectricceramicmaterialwasusedastheelectricitymachineconverteroftheproposedpiezoelectricelectrohydraulicservovalve.Theproposedpiezoelectricelectrohydraulicservovalvehasascendantperformancecomparedwithconventionalones.Butthesystemisofhighnonlinearityanduncertainty,itcannotachievefavorablecontrolperformancebyconventionalcontrolmethod.Todevelopanefficientwaytocontrolpiezoelectricelectrohydraulicservovalvesystem.Ahighprecisefuzzycontrolmethodwithhysteresisnonlinearmodelinfeedforwardloopwasproposed.ThecontrolmethodisseparatedintotwopartsafeedforwardloopwithPreisachhysteresisnonlinearmodelandafeedbackloopwithhighprecisefuzzycontro1.ExperimentalresultsshowthatthehysteresisloopandthemaximumoutputhysteresisbythePIDcontrolmethodare4.22%and2.11pm,respectivelythehysteresisloopandthemaximumoutputhysteresisbytheproposedcontrolmethodrespectivelyare0.74%and0.37μm,respectivelythemaximumtrackingerrorbythePIDcontrolmethodforsinewavereferencesignalisabout5.02%,themaximumtrackingerrorbytheproposedcontrolmethodforsinewavereferencesignalisabout0.85%.contro1.KeywordspiezoelectricelectrohydraulicservovalvehysteresisnonlinearityPreisachmodelfuzzycontrol1IntroductionElectrohydraulicservosystemiswidelyappliedinindustrialdomainnowadays.forexample.robotdrive,machinebuilding,architecturalengineering.Theelectrohydraulicservovalveisthekerneloftheelectrohydraulicservosystem,anditsperformancehasdecisiveeffectOfthewholesystem.Theconventionaldrivemodeofelectro.hydraulicservovalvehaslowerresolutionandnarrowerworkbandwidth,whichrestrictstheapplicationsoftheelectrohydraulicservovalve.Theproposedpiezoelectricelectrohydraulicservovalveadoptsmultilayerpiezoelectricactuatoraselectricitymachineconverter.ThisHewtypeofpiezoelectricelectrohydraulicservovalvehasbetterdynamicperformancethanthatofconventionalones.Atpresent,withtheresearchandthedevelopmentofnewtypeactuatorbasedonnewtypematerials,itispossibletomakethenewelectricitymachineconverterwithhighfrequency.Newmaterialsincludepiezoelectricceramicmaterials,magnetostrjctivematerials,shapememoryalloys.Thereinto,multilayerpiezoelectricactuatorsbasedonnewpiezoelectricceramicmaterialshavemanymeritssuchassmallcubage,highresolution,highfrequencyandlargedriveforce.Hence,theyarewidelyusedinthemicropositiondeviceofmachinetoolsandotherprecisionmachines16.However,theyalsohavemanyshortcomings,for毕业设计(论文)第页1example,hysteresisnonlinearitymodelinfeedforwardloopwasproposed.2WorkprincipleandcharacteristicofnewtypeofpiezoelectricelectrohydraulicValveBecausethepullingforcecapacityofmultilayerpiezoelectricactuatorisverypoor,itcannotmaketheslidevalveoftheelectro,hydraulicservovalvebidirectionallvmove.Twomultilayerpiezoelectricactuatorswereadoptedtosolvethisproblem78.Theshortcomingofthismethodishighcostandsystemisdifficulttocontro1.Utilizingtherestoringforceofaleafspring,onemultilayerpiezoelectricactuatorcanrealizebidirectionalmovementoftheslidevalveinthispaper.Whenthevoltageimposedonmultilayerpiezoelectricactuator1sincreased,multilayerpiezoelectricactuatorwillelongateanddrivetheslidevalvetomovetowardstheleft,whichmakestheleafspringdeform.Onthecontrary,whenthevoltageimposedonmultilayerpiezoelectricactuatorisreduced,multilayerpiezoelectricactuatorwillbeshortenedandthendrivetheslidevalvemovetowardstherightbytheactionoftherestoringforceoftheleafspring.ThestructureofnewtypeofpiezoelectricelectrohydraulicservovalveisshowninFig.1.Theinputoutputcharacteristicofthenewtypeofpiezoelectricelectrohydraulicservovalvesystemindicatesthatithashysteresisnonlinearitywithnonloca1memoryseeFig.2.AtanyreachablepointLUa,Yaininputoutputdiagram,thenumberofalternativecurvethatdescribesthefuturepathofhysteresisnonlinearitywithnonloca1memoryisinfinite.Namely,thefutureoutputofthesystemdependsnotonlyonthecurrentoutputYaandfutureinput,butalsoonthepasthistoryofinputvaluesextremum.Hence,theoutputresponseofnewtypeofpiezoelectricelectrohydraulicservovalvetoanappliedinputvoltagebecomesunpredictable.Inthesystem,thereexistothernonlinearitiessuchasforceoffrictionandworkdeadzoneofvalve,furthermore,dampingcoefficientandoiltemperaturearealsochangedwithtime.Thenonlinearityanduncertaintyhaveseriouslyeffectsonthepositionprecision.Toimprovetheperformanceofthenewtypeofpiezoelectricelectrohydraulicservovalvesystem,avalidcontrolmethodisneeded3ControlalgorithmAtpresent,conventionalPIDcontrolleriswidelyappliedinindustrialcontroldomainbecauseofitssimplecontrolstructure,easydesignandinexpensivecost.However,conventionalPIDcontrollerisdifficulttoachievegoodcontrolperformanceinthenewtypeofpiezoelectricelectro,hydraulicservovalvesystembecausethecontrolobjecthashigh毕业设计(论文)第页2nonlinearityanduncertainty.Fuzzycontrollershowsgoodresultsinthecaseofcontrollinghighnonlinearsystems.However,conventionalfuzzycontrollerisessentiallyakindofnonlinearPDcontroller,thereexistssteadystateerror,whichcannotmeetthedemandofhighpreciseofthesystem.Inthispaper,ahighprecisefuzzycontrolalgorithmwithPreisachhysteresisnonlinearmodelinfeedforwardloopwasproposed.TheblockdiagramofthecombinedcontrolisshowninFig.3.ThecontrolsystemiscomposedofafeedforwardloopbasedonPreisachmodelandafeedbackloopofhighprecisefuzzycontroller.UlistheoutputoffeedforwardloopbasedonPreisachmode1.Asalinearterm,itisselectedfromaPreisachfunctiontablebasedonthegivenpositionvalue.U2istheoutputofthehighprecisefuzzycontroller.ThesumUtoffeedforwardcontrolvoltagefandfeedbackcontrolvoltageU2t,asultimatecontrolvoltage,isactedonnewtypepiezoelectricelectrohydraulicservovalve.3.1FeedforwardloopbasedonPreisachmodelTheopenloopresponseofthenewtypepiezoelectricelectrohydraulicservovalvesystemunderanarbitraryandnoncyclicinputsignalisshowninFig.2.Thisphenomenonappearsashysteresisnonlinearitywithnonlocalmemory,whichcanbepredictedbyPreisachmode1.ThenumericalformofPreisachmodelcanbewrittenasfoliowsddtuutfS,1Eqn.1canbeusedtocalculatetheresponseofthenewtypeofpiezoelectricelectrohydraulicservovalvesubjecttoaknownarbitraryinputvoltagesequence.Aseriesoffirstorderfunctionskkrofthenewtypeofpiezoelectricelectrohydraulicservovalveareexperimentallydetermined.Theprocedureisasfollows.ThespacebetweenzeroandsaturationvoltageUsisdividedintonequipartitions,andthevoltageofeveryequantpointiskUs/n,wherek0,1,2,⋯n.VoltageisappliedfromzerotoeveryequantpointkUs/n,andthendecreasedtozero.Inthisprocess,thepositionoutputvaluesofthenewtypeofpiezoelectricelectrohydraulicservovalvearerecordedateveryequantpointbetweenzeroandsaturationvoltageUs,therewith,kkrandthePreisachfunctiontableareobtainedseeFig.4,毕业设计(论文)第页3ddtuddutfStu,,(2)Basedonthedrivervoltagerangeofthenewtypeofpiezoelectricelectro.hydraulicservovalve,thecoordinatespaceisselectedas0≤U≤l50Vand0≤U150VFromFig.4,thelimittriangleisdividedintoseveralsquaresandtriangles.Decreasingthesizeofthesquaresandtrianglesisexpectedtoincreasetheaccuracyofthemode1,however,itwillspendmassivecomputationaltime.Basedontheexperiments,nisselectedas5,namely,thesizeofeachofsidesofthesquaresandtrianglesisselectedas30V.BasedonthegivenpositionvalueandthenumericalformofthePreisachmodel,1nUtUortUncanbeobtained.Thereby,basedonPreisachfunctiontable,thecontrolvoltageUltisobtainedwhen1nUliesontheverticallineorUliesonthehorizontalline.FortheinexistencevoltageinthePreisachfunctiontable.itcanbeobtainedbythelinearinterpolation.Incomparisontoaconventionalfeedbackcontroller,themainadvantageofthismode1basedfeedforwardcontrolleristhatitcancompensatethehysteresisnonlinearityofthesystemandachievehighlydynamicoperationatthesametime,andnoadditionalsensorisneeded.Thisleadstoaverysimpleandinexpensivecontrolsystem.Themaindrawbackofthefeedforwardcontrollerissensitivetounmodeldataandunconsideredexternaldisturbancessuchastemperaturedrift.Foranewtypeofpiezoelectricelectrohydraulicservovalvesystemthatneedshighcontrolprecision.mode1.basedfeedforwardcontrollercannotobtaingoodcontroleffect.Thenacompoundcontrolmethodwithfeedforwardandfeedbackcontrolprojectwasproposedinthispape.Inthefeedbackcontrolloop,ahighprecisefuzzycontrolalgorithmwasadopted.Themethodcanobtaingoodperformance.3.2HighprecisefuzzycontrolConventionalfuzzycontrollerhastwoinputvariables,eandΔe,andoneoutputvariable(U),theyareerror,changeoferrorandoutputcontroloffuzzycontroller.Inthenewtypeofpiezoelectricelectrohydraulicservovalvesystem,thephysicalrangeoftheslidevalvepositionerrorandchangeoferror△earex,xandΔx,Δx,respectively.Thecorrespondingdiscreteuniversesofdiscourseofe,△eanduareE,ECandUrespectively.E,ECandUaredesignedasnormalizedform

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