CAJ | 학술논문

针对执行器控制系统的高速、高精度要求且便于工程应用，提出基于HNC100的电液位置速度复合控制方法，保证执行器高速运动下定位精度高且超调小、运动过程速度可控，进而提高系统性能或产品质量。将HNC内置的两种控制模式即高速制动模式和位置闭环控制模式，分别应用于不同的速度与负载工况。高速制动控制模式适用于负载变化较小的高速精确定位工况，实现先开环、后闭环的制动控制，且具有速度修正功能，可有效调整过程速度；位置闭环控制模式适用于负载变化较大的场合，可预先对运行过程的位置与速度曲线进行预设，实现全程位置闭环控制，即可同时保证位置与速度精度。结合HNC控制器和现有实验设备，进行类比试验，结果表明：在不同速度与负载工况下，采用合适的HNC内置控制策略，可获得良好的控制性能，且调试简便，工程适应性强。
침대집행기공제계통적고속、고정도요구차편우공정응용，제출기우HNC100적전액위치속도복합공제방법，보증집행기고속운동하정위정도고차초조소、운동과정속도가공，진이제고계통성능혹산품질량。장HNC내치적량충공제모식즉고속제동모식화위치폐배공제모식，분별응용우불동적속도여부재공황。고속제동공제모식괄용우부재변화교소적고속정학정위공황，실현선개배、후폐배적제동공제，차구유속도수정공능，가유효조정과정속도；위치폐배공제모식괄용우부재변화교대적장합，가예선대운행과정적위치여속도곡선진행예설，실현전정위치폐배공제，즉가동시보증위치여속도정도。결합HNC공제기화현유실험설비，진행류비시험，결과표명：재불동속도여부재공황하，채용합괄적HNC내치공제책략，가획득량호적공제성능，차조시간편，공정괄응성강。
Aimed at the high-speed actuators control system,to meet the requirement of high speed,high control accuracy and easily to be applied to engineering,an electro-hydraulic position and speed hybrid control strategy based on HNC100 controller is pro-posed,which ensures actuator to keep high position control accuracy under high moving speed with small overshoot of displacement and controllable moving speed,and therefore to improve the system performance or product quality. The two control strategies built-in HNC,that were high speed braking and position close-loop control,were separately applied to working conditions of different speed and loads. The former was applicable to the condition which should keep high position accuracy in high speed with small loads changes. The system was firstly worked in open-loop control,and turned into close-loop control in braking. Even the moving speed could be cor-rected to effectively adjust process speed. The latter could be used to the situation with large loads changes,by presetting the position and speed curve of motion trail in advance,to implement position close-loop control of whole process. That was simultaneously to en-sure accuracies of position and speed. The analog experimental results,based on the hybrid of HNC100 controller and present experi-mental facilities,show that the good control performance can be obtained using the right strategy built-in HNC,under working condi-tions of different speed and loads. And it is easy and convenient to debug,with strong adaptability in engineering application.