Motion Control of Independent Metering Electro-hydraulic System Based on Chamber Pressure Planning without Mode Switch
Independent metering system is one of the hotspots within the area of electro-hydraulics.However,the system presents dual-input-single-output property,which brings extra flexibility to control design.Mode switching is the most widely used strategy when dealing with such flexibility.However,the control objectives are changing frequently under different modes and can possibly cause pressure chattering.In this study,based on chamber pressure planning and tracking control,motion control of independent metering system is developed.According to the desired cylinder force,the pressure reference trajectory for the rod-end chamber is planned.Then,the motion and pressure tracking controllers are designed for both chambers.Such strategy avoids the discontinuous control objectives caused by mode switches essentially.Finally,comparative experiments are conducted under positive and negative load conditions.The results show the pressure chattering phenomenon caused by mode switches,and verify that the proposed strategy leads to smoother working condition of the independent metering system.
independent metering systempressure controlmotion control
NETL
NSTL
万方数据
维普
