Modeling of VCM-DDV and control simulation
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摘要: 基于AMESim和Simulink的协同仿真环境,对新型音圈电机直接驱动伺服阀(VCM-DDV,Voice Coil Motor-Direct Drive Valve) 进行了仿真研究.采用AMESim建立了VCM-DDV的非线性模型及虚拟液压测试系统,采用Simulink建立了数字控制器模型,通过接口组成了协同仿真环境.将VCM-DDV视为线性部分与非线性部分叠加,并将非线性部分视为线性系统状态空间的一个状态,建立了系统的状态空间模型.用全状态观测器得到非线性干扰项,设计了LQR (Linear Quadratic Regulator)全状态反馈和非线性补偿的复合控制方法.仿真结果表明: 非线性补偿提高了系统的稳态控制精度,LQR状态反馈可以使系统达到需要的动态性能. Abstract: The characteristic of a new type voice coil motor-direct drive valve(VCM-DDV) was investigated based on the co-simulation environment of AMESim and Simulink. By using AMESim the VCM-DDV nonlinear model and hydraulic environment have been set up. By using Simulink the digital controller mode has been set up. A strategy of divide the VCM-DDV model into linear part and nonlinear part was proposed. Regards the nonlinear part as a disturbance factor when derive the linear state space model, the disturbance as one of states in space state vector has been set up. A full state observer was designed to estimate the spool position, velocity and the disturbance. Then a linear quadratic regulator(LQR) state feedback control algorithm with a nonlinear compensator was applied. The simulation result demonstrates this control algorithm improve steady precision and dynamic performances both.
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Key words:
- voice coil motor /
- direct drive valve /
- linear quadratic regulator /
- nonlinear compensator /
- Simulink /
- AMESim
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