摘要
迭代学习控制是智能控制中具有严格数学描述的一个分支。它适合于一类具有重复运动特性的被控对象。该技术的研究对强耦合系统的控制问题有着非常重要的意义。而电液伺服控制系统是一类典型的未知不确定性强耦合系统。这类系统扰动大,工作范围宽、时变参量多,难以精确建模。而且由于气隙等因素的影响,电液伺服系统是不确定度相当高的非线性强耦合系统。
本文首先介绍了迭代学习控制的发展与研究现状,详细阐述了迭代学习控制理论的基本概念、基本问题;其次介绍了电液伺服系统的组成及发展历程,并且分析了电液伺服控制系统的强耦合性的特点及产生的原因,建立了电液伺服系统的理论模型;随后将迭代学习控制作为一种针对强耦合性而提出的控制方法拓展到电液伺服系统中,比较了各种控制方法,设计了迭代学习控制器,在Matlab/Simulink里建立了整个系统的仿真模型,进行了仿真研究;最后改进了电液伺服控制系统,将电液伺服位置控制和电液伺服压力控制相结合,提出了一种位置耦合压力的电液伺服位置、压力复合控制策略,解决了电液伺服系统的复合控制问题。设计了迭代学习控制器,继而在Matlab/Simulink里建立整个系统的仿真模型,进行仿真研究。结果表明:用迭代学习控制直接应用到具有强耦合性的电液伺服系统中,和先解耦再控制的控制方法比较,控制性能得到了很大提高。
以上研究表明,电液伺服系统位置和压力复合控制系统良好性能的实现将大大提高主机的生产效率,具有非常广阔的应用前景;而将迭代学习控制应用于该系统中,将有助于其控制性能的改善。这促进了电液伺服系统的理论研究,同时也拓宽了迭代学习应用领域,具有一定的应用价值。
Iterative learning control is a branch of intelligent control which has strictly mathematical description. It is suitable to a class of object which has repeat movement characteristics. The research of this technology has a very important significance on the control problem of strong-coupling system. However, electro-hydraulic servo control system is a typical , uncertain and unknown strong coupling system. Such systems have big disturbance ,wide range of work and many time-varying, which is difficult to accurately model. As a result of the impact of factors such as air-gap, electro-hydraulic servo system is very high uncertainty nonlinear strong coupling system.
Firstly, the development and research of present situation of iterative learning control are introduced, the basic concepts and fundamental issues of the iterative learning control theory are described in detail; secondly, the composition and the development process of the electro-hydraulic servo system is introduced, the strong-coupling characteristics of the electro-hydraulic servo control system and the causes of the strong-coupling characteristics are analyzed, and the theoretical model of electro-hydraulic servo system is established; Then, iterative learning control is applied to the electro-hydraulic servo control system as a control methods which is put forward response to strong coupling proposed, a variety of control methods are compared, the iterative learning controller is designed, and simulation model of the entire system is established in the Matlab / Simulink, and simulation study is done ; Finally, electro-hydraulic control system is improved, position control and pressure control the of electro-hydraulic servo are combined, a electro-hydraulic servo position and pressure hybrid control strategy is took out to resolve the problem of hybrid control of electro-hydraulic servo system. Then iterative learning controller is designed, and the simulation model of the entire system is established in the Matlab/ Simulink to simulation study. The results showed ,that comparing the application of take iterative learning control directly into a strong coupling electro-hydraulic servo system and the first decoupling to control methods, the control performance has been greatly improved.
The above studies have shown that the achieving of control performance of electro-hydraulic servo position and pressure hybrid control system will have a good prospects. Taking iterative learning control into this system will greatly enhance the performance, which not only promotes the theoretical study of electro-hydraulic servo system, but also broadens the field of iterative learning applications, and has a certain value.
引文
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