随着计算机技术在工程控制中的广泛应用与发展.doc

摘要随着计算机技术在工程控制中的广泛应用与发展，电液控制系统及其元件的数字化成不一种发展趋势。采用开关阀实现电液伺服控制是一种简便有效的方法，是流体传动控制的一个新方向。广义脉码调制（GPCM）应付压伺服控制是采用开关阀实现伺服控制的一种新方法，它以普通开关阀为基本控制元件，是一种廉价、实用的电液开关伺机服控制，其适合流量论与实验两个方面对其进行了深入地研究。本文阐述了脉码调制（PCM）控制机理及其基本特性，建立了几种典型的PCM液压控制回路，并在此基础上针对传统PCM液村控制所固有的控制精度与控制范围、稳定性与快速性之间矛盾，首次提出了GPCM控制予以解决，通过理论分析，建立了FPCM控制液压伺服系统的数学模型，为系统的静态和动态特性分折打下了基础，利用描述函数与相平面非线性分析方法，首次对GPCM液压控制系统稳定性进行了深使其实现大流量输出。能够在满足控制精度的前提下，具有较大的调速范围。解决了控制精度与控制范围、稳定性与快速性之间的矛盾。首次对广义脉码调制阀的内部压力与流量分布的关系进行了研究，得出了阀内压力沿液体流动方向的变化规律，此规律合理设置GPCM控制阀的各流量控制基元位置。可保证较准确地控制阀流量。对GPCM控制的液压位置伺服控制系统进行的理论仿真分析，设计出了一种适用于GPCM控制液压伺机服系统的控制策略，它是一种混合控制方式，由Bang-Bang控制、PID控制和模糊控制构成。它的特点是在进行设计时不依赖于系统的精确数学模型，试验研究得到了预期控制效果。最后将GPCM控制液压位置伺服系统应用于多节式面器有的伺服驱动，研究了多关节的协调控制和在这种驱动方式的机械手定位与跟踪控制，取得了满意的效果。关键词：广义脉码控制，电液控制，仿真，机器有控制BSTRACTAs the computer technology is widely used developed, digitization of electro-hydraulic control system and their components is a direction for progress. 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 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 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, and 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 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 regulation 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 control 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 model 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,