Abstract
By researching the synchronization motion of double hydraulic cylinders controlled by high-speed on-off valve, the paper aims to solve the shortage of current hydraulic synchronization system with low synchronization precision. The flow characteristic of high-speed on-off valve with pulse width-frequency modulation is researched compared with pulse width modulation. The mathematical equations of the double hydraulic cylinders are formulated with bulk-cavity-node method in MATLAB/Simulink. The collaborative synchronization control is analyzed and the compound algorithm of collaborative synchronization control and pulse width-frequency modulation is simulated compared with collaborative synchronization control. The hydraulic loop is set up to verify the simulation result with the proposed control algorithm on the FESTO platform. The research finds that (1) the pulse width-frequency modulation control can be linear to the flow of high-speed on-off valve on the duty bound of 0~100%; (2) the collaborative synchronization control is effective to eliminate the displacement error between the double cylinders which results from the different load environment and other disturbance.
Highlights
Synchronization motion of hydraulic system is widely used in the fields of military and industrial manufacturing [1] and the precision of synchronization motion influences the system performance directly.High precision synchronization motion of the hydraulic system is usually realized by proportional valve or servo valve [2], while the proportional or servo valve has many disadvantages, such as weak antipollution ability and being controlled indirectly by personal computer (PC)
High precision synchronization motion of the hydraulic system is usually realized by proportional valve or servo valve [2], while the proportional or servo valve has many disadvantages, such as weak antipollution ability and being controlled indirectly by PC
The scheme figure of the collaborative hydraulic control system is presented in Figure 1, which is mainly composed of a personal computer (PC) with the data acquisition card PCI6221, the displacement sensors for the hydraulic cylinders, high-speed on-off valve (HSV), and three position four-way reversing valves and some accessories (Figure 2)
Summary
Synchronization motion of hydraulic system is widely used in the fields of military and industrial manufacturing [1] and the precision of synchronization motion influences the system performance directly. Qin et al [8] research the pulse frequency modulation (PFM) control method to compensate the dead zone and applied to the speed control for the hydraulic motor, which achieves the speed control. Liu [11] designed a high precision hydraulic lifting by utilizing master-slave control method with the right cylinder tracking the displacement of the left cylinder to modify the synchronization error. In order to improve the synchronization precision of the double hydraulic cylinders, the synchronization control algorithm, combining position control of the single cylinder and synchronous control of the double cylinders, is proposed and researched. PWM-PFM is proposed to compensate the dead zone and utilized to the collaborative synchronization control, which is presented, “Collaborative Synchronization Control and PWM-PFM”. The study is ended with several concluding remarks of the research work
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