一种简单非线性PID控制在电液伺服系统中的应用研究

Application of a simple nonlinear PID control to electro-hy-draulic servo system

本文给出一种简单非线性PID控制器的设计方法。该控制器设计简单．有较好的适应性、鲁棒性和抗干扰性，通过其在电液伺服系统中的应用表明该方法的有效性和可行性，该控制方案能用于机器人等复杂的控制系统中，有较好的应用前景。

This paper gives out design method of a aimplenonlinear PID controller. The controller is simple in design, withbetter adaptability, robustness and anti-disturbance. The use inelectrohydraulic servo system shows that the method is effective andfeasible. The control scheme can be used in soch complicated control systeme as robots etc., with good prospects in uses.