针对简单比例-积分-微分(PID)控制在液压系统控制中出现严重滞后、不易调节等问题,提出采用输入前馈-反馈复合补偿控制策略实现液压动力源典型工况下流量的跟踪控制,以控制执行机构速度。该方法以变转速机电液系统试验平台为基础进行建模,深入分析液压动力源机电液参数之间的耦合关系,建立整个试验平台的输入前馈-反馈复合补偿控制模型,以实现液压动力源典型工况(阶跃、斜坡、正弦动态变化)下流量的跟踪控制。研究结果表明:与简单PID控制相比,目标流量阶跃变化时,复合控制响应时间减小约40%,稳态误差减小约33%;目标流量斜坡变化时,复合控制响应时间减小约44%,动态误差减小约46%;目标流量正弦变化时,响应时间和动态误差减小至简单PID反馈控制的30%,系统的动态响应特性得到大幅度提升。输入前馈-反馈复合补偿控制算法简单、可靠性高,解决了传统液压调速出现的滞后、响应慢、不易调节等问题。 In order to solve the problem of simple proportional-integral-derivative (PID) control in hydraulic system control, which lags behind and is not easy to be adjusted, a new feedforward-feedback compound compensation control strategy is proposed to realize the tracking control of the hydraulic power source under typical conditions Control actuator speed. The method is based on variable speed electro-hydraulic system test platform, deeply analyzes the coupling relationship between the electro-hydraulic parameters of the hydraulic power source, and establishes the input feedforward-feedback compound compensation control model of the entire test platform to realize the hydraulic power source Typical conditions (step, ramp, sinusoidal dynamic changes) under the flow control. The results show that compared with simple PID control, when the target flow rate changes step-by-step, the response time of compound control decreases about 40% and the steady state error decreases about 33%. When the target flow rate changes, the response time of compound control decreases about 44%, the dynamic error is reduced about 46%. When the target flow changes sinusoidally, the response time and dynamic error are reduced to 30% of the simple PID feedback control, and the dynamic response of the system is greatly improved. Input feedforward - feedback composite compensation control algorithm is simple, high reliability, to solve the traditional hydraulic governor lag, slow response, difficult to adjust and so on.