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Driving control method for novel slewing bearing test bed

A technology of slewing bearings and test benches, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., can solve problems such as difficulty in ensuring stable control of the system

Active Publication Date: 2017-10-24
NANJING UNIV OF TECH +1
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AI Technical Summary

Problems solved by technology

It is difficult to ensure the stable control of the system only by adjusting the three parameters of the traditional linear PID. Therefore, it is of great significance to study the control method to improve the control accuracy and service time limit of the slewing bearing.

Method used

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  • Driving control method for novel slewing bearing test bed
  • Driving control method for novel slewing bearing test bed
  • Driving control method for novel slewing bearing test bed

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Embodiment Construction

[0079] The present invention will be further described below in conjunction with the accompanying drawings.

[0080] Such as Figures 1 to 9 , a new drive control method for a slewing bearing test bench, comprising the following steps:

[0081] Step (1) as figure 1 It shows the transfer function identification principle of the slewing ring control system. After the step input voltage signal is given, the position signal data is measured by the position sensor of the slewing ring;

[0082] Step (2) Set the expected step response trajectory of the slewing bearing according to the second-order system performance index. The standard second-order system response can be determined by the system damping ratio ξ and natural frequency ω n Calculations are performed where the natural frequency is obtained according to the 2% criterion:

[0083]

[0084] where T set It is the stabilization time of the system, which determines the response speed of the system from another angle. a...

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Abstract

The invention discloses a driving control method for a novel slewing bearing test bed. The method comprises the following steps of (1) obtaining the transfer function model of a slewing bearing control system by adopting a system identification method; (2) setting a step-change response trajectory expected by the system, iterating a parameter vector of an initial controller by adopting a nonlinear least square method, and keeping the parameter vector of the initial controller to be unchanged; (3) splitting the linear controller to obtain a parameter component and a structural component of the controller; (4) adding a coupling variable to the structural component of an initial linear PID controller to form a candidate controller, and subjecting the index of the coupling variable to iteration operation. According to the invention, based on the driving control method for the novel slewing bearing test bed, a traditional PID controller is subjected to nonlinear treatment, so that the accurate position control of the slewing bearing test bed is realized. Therefore, the slewing bearing can track a preset expected trajectory, so that the stability of the test bed can be improved.

Description

Technical field: [0001] The invention belongs to the field of industrial process control, and relates to a novel drive control method for a test bench of a slewing support, in particular to a novel drive control method for improving the control precision of the slewing support. Background technique: [0002] Slewing bearings are widely used in construction machinery, wind turbines and other large-scale mechanical structures that require relative rotary motion, and play the role of kinematic joints in these devices. As a servo system mainly composed of electrical system and hydraulic system, the slewing ring test bench has the characteristics of strong coupling and strong nonlinearity. The pros and cons of the test bench control system not only affect the control performance, but also directly affect the service life of the slewing bearing. It is difficult to ensure the stable control of the system only by adjusting the three parameters of the traditional linear PID. Therefo...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 王华史乐珍洪荣晶戴永奋鲍治国王景龙
Owner NANJING UNIV OF TECH
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