摘要
采用一液压缸的实际运动状态作为另一液压缸的理想特性，构造一个耦合的两缸同步运动迭代学习数字控制系统。在对数字计算差商代替导数误差分析的基础上，以其误差最小为目标进行测控周期的动态最优化，实现系统参数的自动调节，从而构成自适应学习控制系统。
This paper presents a PID strategy of learning control system for double actuator synchonous motion.The actual motion value of the actuator to be controlled is used as another actuator's desired motion value in this learning control system. Based on the analysis of optimum substitution of difference for derivative in the 'soft sampling' of highorder motion variation and D operation of learning control equation,the sampling period is dynamically optimized by minimizing the total errors. The accuracy of this system and the convergency of the discrete learning control equation is guaranteed.
出处
《中国机械工程》
CAS
CSCD
北大核心
1996年第1期38-40,共3页
China Mechanical Engineering
基金
国家自然科学基金
关键词
同步运动系统
自适应控制
液压系统
synchronous system
adaptive control
discrete learning control
hydraulic system
