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首页> 外文期刊>Journal of Mechanical Science and Technology >Trajectory sensitivity analysis of first order and second order on position control system of highly integrated valve-controlled cylinder
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Trajectory sensitivity analysis of first order and second order on position control system of highly integrated valve-controlled cylinder

机译：高度集成阀控缸位置控制系统的一阶和二阶轨迹灵敏度分析

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A Highly-integrated valve-controlled cylinder (HIVC) that has the advantage of large power weight ratio and fast response is widely applied in many fields. To ensure high performance of HIVC, control strategy selection and structure parameters optimization are essential; thus, performance-influenced main parameters and secondary parameters should be well-grasped to target control compensation and structure optimization. Trajectory sensitivity analysis (TSA), a branch of sensitivity analysis, can be adapted to research on the effects of control and structure parameter variation on system performance; the analysis conclusions can be used to improve system performance and the analysis has been applied in many applications in various fields. In this paper, based on the mathematical model of the First-order trajectory sensitivity analysis (FOTSA), the mathematical model of Second trajectory sensitivity analysis (SOTSA) is further derived; the general expression of the second-order trajectory sensitivity equations and the special expression that is applicable to each system parameter sensitivity analysis of HIVC are built respectively. Furthermore, based on the position control system of the nonlinear mathematical model of HIVC involved with servo valve dynamic characteristics, flow-pressure nonlinearity, initial piston position of servo cylinder, and friction nonlinearity, the coefficient items and the free items matrices of the special expression are calculated. Moreover, the First-order trajectory sensitivity function (FOTSF) and the Second trajectory sensitivity function (SOTSF) of the 17 main parameters in HIVC are computed on the MATLAB/Simulink platform under nine typical working conditions of the displacement step response. Then, the dynamic change rules and the differences and similarities of each parameter sensitivity analysis results are obtained through FOTSA and SOTSA under different working conditions with different parameter variations; each parameter sensitivity variation histogram based on the two kinds of sensitivity indexes, including the maximum value of the percentage absolute value and the absolute value summation within the sampling time, are given. Furthermore, differences and similarities of each parameter sensitivity index change rule and value are quantitatively analyzed. Finally, the sensitivity index change rules and values of the four parameters in the position control system of HIVC, including system supply oil pressure, proportion gain, initial piston position of servo cylinder, and load are experimentally verified. All above studies indicate that each parameter SOTSA result of HIVC vary under different working conditions. When parameter variation is significant, the differences in certain parameter sensitivity analysis between FOSTA and SOTSA are relatively significant; and SOTSA results are more similar to the test results, which illustrates that SOTSA results are more accurate.
机译：具有大的功率重量比和快速响应的优点的高度集成的阀控缸（HIVC）被广泛应用于许多领域。为了确保HIVC的高性能，控制策略的选择和结构参数的优化至关重要。因此，应充分掌握性能影响的主要参数和次要参数，以实现目标控制补偿和结构优化。轨迹灵敏度分析（TSA）是灵敏度分析的一个分支，可用于研究控制和结构参数变化对系统性能的影响;分析结论可用于改善系统性能，并且该分析已应用于各个领域的许多应用中。本文基于一阶轨迹灵敏度分析（FOTSA）的数学模型，进一步推导了二阶轨迹灵敏度分析（SOTSA）的数学模型。分别建立了二阶轨迹灵敏度方程的一般表达式和适用于HIVC各系统参数灵敏度分析的特殊表达式。此外，基于HIVC非线性数学模型的位置控制系统，该模型涉及伺服阀动态特性，流量压力非线性，伺服缸初始活塞位置和摩擦非线性，其特殊表达式的系数项和自由项矩阵计算。此外，在MATLAB / Simulink平台上，在位移阶跃响应的九种典型工作条件下，计算了HIVC中17个主要参数的一阶轨迹灵敏度函数（FOTSF）和二阶轨迹灵敏度函数（SOTSF）。然后，通过FOTSA和SOTSA，在不同的工作条件下，具有不同的参数变化，得到了动态变化规律以及各参数敏感性分析结果的异同;给出了基于两种灵敏度指标的每个参数灵敏度变化直方图，包括百分比绝对值的最大值和采样时间内的绝对值总和。此外，定量分析每个参数灵敏度指标变化规则和值的异同。最后，通过实验验证了HIVC位置控​​制系统中灵敏度指标的变化规律和四个参数值，包括系统供油压力，比例增益，伺服缸初始活塞位置和负载。所有上述研究表明，HIVC的每个参数SOTSA结果在不同的工作条件下都不同。当参数变化显着时，FOSTA和SOTSA在某些参数敏感性分析中的差异相对较大; SOTSA结果与测试结果更相似，这说明SOTSA结果更准确。

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