摘要:电液伺服系统是一个典型的非线性系统。随着系统负载、伺服阀的阀芯换向等因素的变化，系统也会相应发生变化，也就是说，这些因素导致了系统存在很大的不确定性。人们对控制的要求越来越高，控制越来越趋于精密化和智能化，常规的的PID控制已经不能满足人们的需求。

为了减小电液伺服控制系统中由于参数变化、外界干扰和交叉耦合干扰等不确定因素对位移的影响，本文基于以工控机为核心的测试平台，提出了一种广义预测控制的控制策略。结合测试平台的实际工作特点，本文从阀控缸系统的数学模型入手，建立位移控制的数学模型；建立了阀控缸系统带控制量的自回归积分滑动平均（CARIMA）模型，对广义预测控制算法进行推导，基于Matlab建立系统仿真模型，并通过Simulink建立了常规PID控制的模型，将两者的控制效果进行对比，从仿真结果的对比分析可以看出，采用该算法之后，阀控缸系统的位移具有更好的跟踪性能和鲁棒性；运用固高GTS运动控制卡开发基于广义预测控制的电液伺服控制系统，并在Visualstudio中得到系统仿真图形。

关键词：广义预测控制；电液伺服系统；系统仿真；运动控制卡

Abstract:Electromechanical servo system is a typical nonlinear system due to the high nonlinearity of the hydraulic dynamical system, the valve core commutation and the friction of the servo valve. At the same time, the system load, external interference, different temperature of the hydraulic oil elasticity and viscosity will change, etc., these factors make the system there is a great deal of uncertainty. In this case, the classic PID control is difficult to meet people's increasingly sophisticated and intelligent control requirements.

In order to reduce the influence of uncertain factors such as parameter change, external disturbance and cross-coupling interference on the di

splacement of the rope, this paper presents a generalized predictive control strategy based on the test platform with the industrial computer as the core. Based on the practical characteristics of the test platform, this paper starts from the mathematical model of the valve-controlled cylinder system and establishes the mathematical model of the displacement control. The self-regression integral moving average model with the control volume(CARIMA) is established, and the generalized predictive control algorithm is deduced . And the system simulation model is established based on Matlab. And the model of conventional PID control is established by Simulink, and the control effect of the two is compared. From the comparison and analysis of the simulation results, it can be seen that the displacement of the valve-controlled cylinder system has better tracking performance and robustness. The electro-hydraulic servo control system based on generalized predictive control is developed by using the solid GTS motion control card, and the system simulation graphics are obtained in Visual Studio.

Key Words: Generalized predictive control; electro - hydraulic servo system; system simulation; motion control card

目录

第一章绪论-1

1.1研究背景、目的及意义1

1.2国内外研究现状1

1.2.1预测控制研究现状2

1.2.2广义预测研究现状3

1.3论文主要研究内容4

第二章测试平台理论建模5

2.1测试平台控制系统总体分析5

2.2测控系统数学模型的建立6

2.2.1伺服阀传递函数的建立6

2.2.2阀控缸数学模型的建立7

2.2.3位移传感器9

2.2.4伺服放大器9

2.3传递函数参数确定9

2.3.1液压缸参数确定9

2.3.2伺服阀参数确定-11

2.3.3位移传感器参数确定-12

2.3.4伺服放大器参数确定-12