电液位置伺服系统新的校正方法
《Electro-hydraulic Position Servo System New Calibration Method》
Abstract: This paper mainly introduces the new calibration method of electro-hydraulic position rvo system. First, the basic composition of the electro-hydraulic position rvo system and the working principle of the system are introduced. Secondly, the new calibration method of electro-hydraulic position rvo system is propod, involving the steps of system zero calibration, system zero compensation, system parameter calibration, system parameter compensation, and loopback calibration. Finally, a t of specific parameters is given, indicating the limitations of the calibration algorithm.电脑技术>不假思索造句
Keywords: Electro-hydraulic Position Servo System, Calibration, Loopback Calibration
1 Introduction
With the advancement of industrial and agricultural science and technology, the demand for high-precision, high-speed, intelligent and flexible positioning control systems is increasi
ng. Electro-hydraulic position rvo systems have gradually become the main control system of industrial robot arms, agricultural and automotive machinery. The electro-hydraulic position rvo system is an open-loop motion control system compod of a rvo valve, a hydraulic cylinder, and an electronic control unit. With the development of the system, the demand for improving the system's precision and control accuracy is also increasing. Therefore, how to calibrate the electro-hydraulic position rvo system has become an urgent issue.
At prent, the electro-hydraulic position rvo system calibration mainly includes the following aspects. System zero calibration is mainly ud to eliminate the gap existing between the actual and theoretical zero position of the actuator. System zero compensation is mainly ud to eliminate the static offt caud by the aging of the rvo valve, the static offt caud by the actuator’s static friction, the static offt caud by the actuator’s internal leakage, and the static offt caud by the mechanical interference of the system. System parameter calibration is mainly ud to adjust the parameters of the actuator and the rvo valve to achieve the best working performance.
System parameter compensation is mainly ud to eliminate the dynamic offt caud by the wear of internal parts of the actuator or the change of the system structure, the dynamic offt caud by the change of the system operating environment temperature, the dynamic offt caud by the pressure and temperature of the working medium, and the dynamic offt caud by the torque of the actuator. To sum up, it can be en that the calibration of the electro-hydraulic position rvo system is a complicated task.
2 New Calibration Method
This paper mainly propos a new calibration method for the electro-hydraulic position rvo system.
2.1 System Zero Calibration
The electro-hydraulic position rvo system actually generates a certain amount of position deviation when it is zeroed. This deviation is caud by the invasion of external force, the friction force of the moving parts and the static offt of the rvo valve. Theref
ore, it needs to be adjusted by system zero calibration. In addition, the system zero calibration should be performed periodically in normal operation to ensure the accuracy of the zero position.
金枝玉叶花 The system zero calibration is mainly achieved by adjusting the position signal and the control curve of the rvo valve. The method can be divided into two steps: adjusting the position signal and adjusting the control curve.
In the first step, the position signal of the rvo valve is adjusted. The method is to nd a zero-position command signal to the rvo valve, and then measure the output current of the rvo valve. If the current output value is different from the t current value, the corresponding deviation value will be generated. This deviation value can be ud to adjust the position signal of the rvo valve, so as to ensure that the position signal of the rvo valve is accurately retained at the t zero position.
In the cond step, the control curve of the rvo valve is adjusted. The rvo valve has a nonlinear control curve, which will cau the system to produce a certain amount of
病毒的生活方式万圣节几月几号static offt at the zero position. To eliminate this static offt, the control curve of the rvo valve can be adjusted. The method is to measure the current output value of the rvo valve at three or more positions of the control curve, and then generate the corresponding adjustment quantity according to the difference between the measured value and the t value.
2.2 System Zero Compensation
In normal operation, the rvo valve will produce a certain amount of static offt due to the aging of the rvo valve components, the static friction of the actuator, the static offt caud by the actuator’s internal leakage, and the mechanical interference of the system. This static offt will cau the output of the rvo valve to deviate from the t value. Therefore, it is necessary to eliminate this static offt by system zero compensation.
表达力 The system zero compensation is mainly achieved by adjusting the zero position and the control curve of the rvo valve. The method can be divided into two steps: adjusting
the zero position and adjusting the control curve.
In the first step, the zero position of the rvo valve is adjusted. The method is to nd a zero-position command signal to the rvo valve, and then measure the output current of the rvo valve. If the difference between the current output value and the t value is greater than a certain threshold, the corresponding adjustment quantity can be generated. After the adjustment, the output current of the rvo valve can be brought to the t value.
