Research On Control System Of High-frequence Electro-hydrulic Angle Vibration Test Table

In this paper,the high-frequency electro-hydraulic angle vibration table is used to test the signal tracking of gyroscope in the case of high-frequency vibration.The table is required to realize the high-precision reproduction of the high-frequency sinusoidal signal in the position control state.The research of servo control system is similar to that of electro-hydraulic shaking table.Therefore,this paper is based on the research of electro-hydraulic shaking table.The hydraulic control system is susceptible to various non-linear factors,and the waveform distortion is relatively large,and it is relatively difficult to work in the high frequency range.Therefore,it is one of the important research directions to design a reasonable control system to overcome the adverse effects of nonlinear factors and realize the work of high frequency area of electrohydraulic angle vibration table.Based on the design scheme of the hydraulic power mechanism and the mechanical design,the mathematical model of the valve-controlled swing motor system is constructed,and the related nonlinear problems are analyzed.Then the parameters of each link are determined.According to the principle of pole configuration,three-state(position,speed and dynamic pressure)feedback compensation controller is designed,and focus on the analysis of the dynamic pressure feedback link,the relevant debugging coefficient is determined by the root trajectory method.Through using the servo controller,the distribution of zero and pole position are improved,gradually reach the desired location,the stability and dynamic performance of the system are improved,and the simulation results by Matlab/Simulink software modeling is good.Under the premise of satisfying the precision of amplitude control,In order to improve the vibration frequency of the system further,on the basis of servo controller,PID type iterative learning control strategy is added.The iterative method is used to correct the unsatisfactory control signal with the deviation of the output signal and the given target,which improves the tracking performance of the system.High-quality control system hardware design is the foundation of the table to achieve the basic functions and high-precision movement.This paper analyzes and selects the hardware part of the control system according to the technical requirements,and then designs the circuit connection schematic diagram of the main control cabinet.On the basis of that,in order to avoid the damage of the motor blades to the inner wall of the motor cavity under the condition of high frequency vibration,the complementary filter principle is applied to design the motor anti-collision controller.The test prototype is setted up and the control system software part is designed.The software mainly includes the upper control interface and the lower layer RTX controller,and the limit protection procedure is added to the software.Experimental result shows the effectiveness of the three-state servo controller and PID iterative learning control strategy.