4

2006 7

ADAMS
, ,

The Simulation of a Hydraulic Control System Via ADAMS

J IN Kang2jin , L I Yong , SHI Guang2lin
( , 200030)

:ADAMS ,

, ADAMS
Hydraulics , ADAMS Matlab , ADAMS
Hydraulics , ,
,
: ; ; ;
: TP391. 9 TP271 + . 3 :B :100024858 ( 2006) 0720004204
1

,
,
,
,ADAMS

ADAMS Mechanical Dynamics , Incorpo2

ADAMS Hydraulics
,
,
2
1
20 kg M
y 0 ,

rated.

,


,


ADAMS
[ 1 ]
ADAMS ,

[ 2 ]
ADAMS ADAMS

,
ADAMS
[ 3 ] ADAMS
, ADAMS ,
,
ADAMS Hydraulics ,

, :

[ 4 ] , MA TLAB ADAMS Hy2
draulics , ,

:
d2 x v
d xv
2
2
+ 2vv
+ v x v = v kv ka u
dt
d t2

( 1)

:0 p n , pf p s ,
:
| x v| x :
2
(
)
(
)
ps - pf - cd w x - xv

qf = cd w (x + xv)

2
pf

:2005207215
: ( 1978 ) , , , ,
:

1994-2006 China Academic Journal Electronic Publishing House. All rights reserved.

http://www.cnki.net

2006 7

(2)
2
(
)
pn - cd w x - xv

qn = cd w (x + xv)

2
(
)
ps - pn
( 3)

x v > x :

( 1) ( 10) , 1
Simulink 2

PID



4 ADAMS

qf = cd w (x + x v)

2
(
)
p s - pf

( 4)

2
p n

( 5)

q n = c d w (x + x v)

x v < x :
2
pf

( 6)

2
(
)
ps - pn

( 7)

qf = c d w (x - x v)
q n = cd w ( x - x v)

:
V f d pf
V n d pn
dy
dy
( )
qf = A f
+
, qn = A n
+
e d t 8
d t e d t
dt
V f = V f0 + A f y , V n = V n0 - A n y
:
d2 y
dy
dy
+ Bl
+ Fs + sgn
F = Af pf - A n pn (9)
dt
dt r
d2
Fs , :
M

0 y < y 0
Fs =

k s ( y - y 0 ) y y 0

( 10)

A f ; A n ;e
; B l ; cd
; Fr ; Fs ; ka
; kv ; k s
; Kp ; M ; pf p n
; p s ; qf q n
; u ; V f V n
; V f0 V n0
; w ; x v ; y
; y 0 ;x
3 Simul ink

MA TLAB Simulink

ADAMS
:
ADAMS View 3a

2
ADAMS View Hy2
draulics 3b Hy2
draulics



2
1 3b
, Hydraulics

,
,

, ,
, 3a
Hydraulics ( 2 )
( 7) , :
qf = sgn ( xv) qN

ps - pf
- sgn ( - xv) qN
pN

qn = sgn ( xv) qN

pn
- sgn ( - xv) qN
pN

pf
( 11)
pN

ps - pf
( 12)
pN

( 11) ( 12 ) ( 2 ) ( 7 ) ,
p N ; qN
; Df ; D r ;
L max ; L min ; D A DB
A ,B ;v ;
f v

2 Simulink

1994-2006 China Academic Journal Electronic Publishing House. All rights reserved.

http://www.cnki.net

:
x - x v - 1 x v x
sgn ( x v) =
0 x < x v 1

2006 7

( 13)

,
ADAMS ,
Simulink ,
Matlab , , 3c

3 ADAMS

Matlab ADAMS ,

A ,B
( Matlab ,
ADAMS )
4a 4b
4c
pf p n , qf
qn 4d
4b 4d , ADAMS/ Hydraulics
Matlab
ADAMS/ Hydraulics Matlab
,
5
6 ,

6

ADAMS Hydraulics
Matlab , :
(1)
, ;

( 2 ) Matlab ,ADAMS/ Hydraulics

;
(3) ADAMS/ Hydraulics
( 3 )
,

1994-2006 China Academic Journal Electronic Publishing House. All rights reserved.

http://www.cnki.net

2006 7

,
, ,
,
,
, ,

, ,
A GC 3 :

; x 0 x 1 x 2

; c0 c1

; k0
k1

3 AGC

3 , ,
,

Kfs
W fs ( s) =
1 + T fs

A GC ,

( 17)

Kfs ; T fs
A GC ,
A GC , A GC

[4 ]

[1 ] Garica C E , Morari M. Internal model control21 : a Unify2

Chemistry Process Design and Development , 1982 , 21 ( 2 ) :

2sv
20
s
s
s
)(
)(
)
r + 1 sv + sv s + 1 0 + 0 + 1
2

s(

:
ing review and some new results[J ] . Industrial Engineering

:
K ( 1 + Ki s)

G ( s) =

A GC ,

( 18)

K ; r
;0 ;0
4 AGC
, ,
,
ms ,
,

308 - 323.
[ 2 ] , . [ M ] . :

, 2005 : 122 - 128.

[ 3 ] Zhang Wei , Sun Menghui , Wang Yiqun. Research of auto2
matic gauge control model in hydraulic screw2down system of
strip mill [ R ] . Hangzhou , China : Proceedings of t he Sixt h
International Conference on Fluid Power Transmission and
Control , 2005 : 717 - 721.
[ 4 ] , , , .

A GC [J ] . , 2004 , 15
( 5) : 450 - 453.

( 6 )
[ 3 ] , . ADAMS

:
[1 ] , . ADAMS [J ] .

,2004 ( 2) :1 - 6.
[ 2 ] , . [J ] .

, 2001 ( 11) : 341 - 346.

[J ] . ,2003 ( 1) : 93 - 94.
[4 ] Ayman A. AL Y , Hidetoshi OHUCHI , Ahmed Abo2IS2
MA IL . Fuzzy model reference learning control for position2
ing an electro2hydraulic servo system[J ] . Transaction of The
Japan Fluid Power System Society , 2003 ,34 ( 3) : 66 - 71.

1994-2006 China Academic Journal Electronic Publishing House. All rights reserved.

http://www.cnki.net