Design And Control Of Hydraulic System For Balance And Location Of Electro - Hydraulic Servo System

Aiming at the urgent problems in current researches on precise positioning of unbalanced barrel, a novel iso-actuation hydraulic servo system for barrel balancing and positioning with hydraulic cylinders possessing three cavities is proposed in this paper, which can be characterized as follows:the internal and external out of balance disturbances will be actively compensated by the balancing cavity of the cylinder, and the positioning will simultaneously be processed by the driving cavities of the cylinder. This paper is aimed at designing the hydraulic system of balancing and positioning electro-hydraulic servo system, and designing fractional order PID controller based on extended state observer on the basis of optimization of the parameters.In this paper, the hydraulic system is designed for balancing and positioning electro-hydraulic servo system of barrel. According to the working principles of the system, the mechanical design, hydraulic design and component selection of the electro-hydraulic servo system are completed, the mathematical model is established and analyzed. The overall design of mechanic-electric-hydraulic system of barrel is completed.For the characteristics of the motion of barrel, the fractional order PID (FOPID) is used as the main controller, and the control parameters are optimized by particle swarm optimization (PSO). At the same time, because of unbalanced disturbance, friction, and many other nonlinear characteristics of the control system, this paper introduces extended state observer(ESO) to FOPID, the main control is calculated by FOPID, the compensation control is generated by ESO which is used to realize the dynamic compensation of the nonlinear factors.Finally, in order to test the correctness of the designed hydraulic system and the control effect of the designed controller for the actual electro-hydraulic servo system, the model simulation and experiments on a semi-physics simulation platform are carried out. The results show that the designed hydraulic system has high stability, and the FOPID control algorithm based on ESO controller has better control performances, the control precision and response speed of the system can meet the performance requirements of the system.