关键词: 双液压马达回转驱动模型, 迭代学习控制算法(ILC), IL-PID同步控制, 电液伺服驱动

Abstract:

Aimed at the high performance synchronous driving problem of dual hydrauic motors rotation，the elasticity theory of undamped planetary gear transmission was introduced. On the basis of analyzing the movement characteristics of dual motors hydraulic rotation system, the nonlinear model was established. For the rotation system index requirements of tracking performance and synchronization performance, ILC algorithm was introduced, and the IL-PID servo synchronization control strategy with the combination of discrete PID controller structure was proposed. This control strategy was based on “equivalent” type synchronous control principle,  independent  discrete PID control was adopted to realize the system tracking performance within each single channel, the IL control which was based on closed-loop D-type learning law was adopted to realize the system synchronization performance among the multi-channels. The results of practical applications on 5-DOF of hydraulic servo manipulator show that the control strategy has better tracking performance and synchronous driving performance than the traditional PID control.

Key words: double hydraulic motors driving model, iterative learning control (ILC) algorithm;IL-PID synchronization control, electro-hydraulic servo driving