电液比例伺服系统模糊PID复合控制应用研究
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摘要
针对电液比例伺服系统变流量死区和变流量增益等非线性因素,对PID控制和模糊控制的控制效果进行了研究,通过设定合理的控制误差阈值实现PID控制和模糊控制的切换,提出了模糊PID复合控制。采用实验方法比较了PID控制、模糊控制和模糊PID复合控制下电液比例伺服系统空载和带载的控制效果,实验结果表明模糊PID复合控制充分发挥了PID控制和模糊控制的优越性能,既有较快的响应速度,又有较高的控制精度。
Aiming at nonlinear factors such as variable flow dead zone and variable flow gain of electro-hydraulic proportional servo system,we study control effects of PID control and fuzzy control. By employing a reasonable error threshold,we realize a switch of PID control and fuzzy control,accordingly,a strategy of fuzzy-PID compound control is proposed. The control effects of PID control,fuzzy control and fuzzy-PID compound control are compared under the circumstance of loading and non-loading. The results show that the fuzzy-PID compound control can give full play to superiority of PID control and fuzzy control with faster response and higher control accuracy.
Aiming at nonlinear factors such as variable flow dead zone and variable flow gain of electro-hydraulic proportional servo system,we study control effects of PID control and fuzzy control. By employing a reasonable error threshold,we realize a switch of PID control and fuzzy control,accordingly,a strategy of fuzzy-PID compound control is proposed. The control effects of PID control,fuzzy control and fuzzy-PID compound control are compared under the circumstance of loading and non-loading. The results show that the fuzzy-PID compound control can give full play to superiority of PID control and fuzzy control with faster response and higher control accuracy.
引文
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[2]丁问司,刘坤,丁云柯.阀控非对称缸基于粒子群优化的模糊PID控制器研究[J].液压与气动,2017,(9):17-23.DING Wensi,LIU Kun,DING Yunke.Fuzzy PID Controller Optimized by Particle Swarm Optimization for Valve Controlled Asymmetric Servo Cylinder[J].Chinese Hydraulics&Pneumatics,2017,(9):17-23.
[3]PRATUMSUWAN P,THONGCHAI S.Precompensation for a Hybrid Fuzzy PID Control of a Proportional Hydraulic System[C]//International Conference on Electrical Engineering,Electronics,Computer,Telecommun Ications and Information Technology,2009:362-365.
[4]FEI L,PENG XW.Application of Proportional Valvecontrolled Hydraulic Cylinder Position Servo System[C].Chinese Control Conference.IEEE,2015:3642-3647.
[5]汪首坤,彭建敏.带遗忘因子的预测迭代学习控制在阀控非对称缸系统中的应用研究[J].机械工程学报,2014,50(10):191-198.WANG Shoukun,PENG Jianmin.Forecast Iterative Learning Control with Forgetting Factor and Its Application in Valvecontrolled Asymmetric Cylinder[J].Journal of Mechanical Engineering,2014,50(10):191-198.
[6]金亚蓉.基于遗传算法的模糊迭代学习控制算法研究[D].兰州:兰州理工大学,2013.JIN Yarong.Research on Fuzzy Iterative Learning Control Algorithm Based on Genetic Algorithm[D].Lanzhou:Lanzhou University of Technology,2013.
[7]YE Ye,YIN Chenbo,GONG Yue,et al.Position Control of Nonlinear Hydraulic System Using an Improved PSO Based PID Controller[J].Mechanical Systems and Signal Processing,2017,(83):241-259.
[8]毛锐.比例阀控液压缸系统的非线性特性及控制方法研究[D].北京:北京理工大学,2015.MAO Rui.Research on the Nonlinearity and Control Method for the Proportional Valve Controlled Hydraulic Cylinder System[D].Beijing:Beijing Institute of Technology,2015.
[9]MAO Rui,PENG Xiwei.A Self-regulating Dynamic Com-pensation Algorithm for Electro-hydraulic Proportional Valve Controlled Cylinder System[C]//6th International Conference on Intelligent Human-Machine Systems and Cybernetics.IEEE,2014:388-391.