中文摘要：

为解决差动缸两腔面积差引起的吸排油流量不对称问题,系统应用非对称泵的结构特点使其在运动过程中能进行自动补偿.但由于两腔面积差不是严格的比例关系以及系统存在气蚀、泄漏等非线性的影响,仍然存在差动缸伸出和收回速度不一致,动静态性能差,系统能耗大等问题.针对于此,分析非对称泵控差动缸系统四象限运行特性,建立能量传输模型,从理论上阐述能量消耗和速度的关系,并进行开环特性试验验证.进一步以差动缸速度和电动机转速的特性曲线为速度闭环控制的前馈函数,提出非线性动态前馈补偿控制策略,根据工况实时调用,将计算所得值作为电动机给定转速,对差动缸的速度进行动态补偿.仿真和试验结果表明,该控制策略有效改善差动缸伸出和收回速度动静态性能,提高了系统能量效率.

英文摘要：

In order to solve the flow asymmetry of the differential cylinder caused by two-chamber area difference, the structure characteristics of asymmetrical pump is applied to compensate automatically flow during motion. However, because the difference of two-cavity area is not a strict proportion relation and there are nonlinear effects such as cavitations and leaks, the speed is inconsistent when differential cylinder stretched and retracted, the performance of dynamic and static is poor, and the energy consumption is big. In Light of this, the four-quadrant operation features of the asymmetrical pump controlled differential cylinder system are analyzed, the energy transfer model is established, the relationship between energy consumption and speed is theoretically explained, and the experiment of open-loop characteristics is verified. Further the characteristic curve of the differential cylinder velocity and motor speed is used as the feed-forward function of the closed-loop control. The control strategy of nonlinear dynamic feed-forward compensation is proposed. According to conditions the function is real-time called. The calculated value is used as the given value of motor speed to dynamically compensate the cylinder velocity. Simulation and experimental results show that the control strategy improves effectively the static and dynamic performance of speed when the differential cylinder stretched and retracted, raises the energy efficiency of the system.