The Automatic Control System of Rotary Motion Hydraulic Drive of Technological Equipment

V. I. Sokolov, O. S. Krol, O. G. Stepanova

Abstract


The purpose of the paper is synthesis and research of the automatic control system (ACS) for rotary motion hydraulic drive of technological equipment that considers the observation noise and stochastic disturbance of the object of control. To achieve this purpose, a mathematical model of working processes in the hydraulic drive of equipment as an object of automatic control has been developed. The mathematical model includes linear dynamic links describing the power part of the drive with a hydraulic motor and the process of adjusting the working volume of the pump. As the main parameters of the mathematical description, characteristic parameters are considered: time constant of the power part of the drive; transfer coefficient of the power part of the drive; transfer coefficient for angular velocity at the loading moment; time constant of the process of regulating the working volume of the pump; transfer coefficient for the for the tilt angle of the washer (cylinder block) by the control voltage. Synthesis of ACS for rotary motion hydraulic drive of technological equipment is performed, considering the observation noise and stochastic disturbance of the control object. According to the separation method, the solution of the problem of synthesis of a stochastic linear optimal system is divided into two: the problem of synthesis of the optimal observer and the deterministic problem of synthesis of the optimal system. To develop the optimal linear controller, the method of dynamic programming is used. The research of dynamic characteristics of automatic control system is carried out, the analysis of transition processes for angular displacement and angular velocity are performed various values of drive parameters. Recommendations are given on the choice of the optimum values of transfer coefficients, considering the technological features of the equipment. The obtained research results can be used to improve the hydraulic drives of technological equipment, in particularly, the drives of equipment for machining materials, as well as to expand the functionality and enhance the dynamic characteristics of the equipment


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References


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DOI: http://dx.doi.org/10.24892/RIJIE/20180208

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