模糊控制在摆缸位置伺服系统中的应用

Application of Fuzzy Control in a Pneumatic Rotary Actuated Servo System

由于摆动气缸的摩擦转矩、空气可压缩性、比例阀的压力特性等非线性因素的存在,要得到摆缸伺服系统精确的数学模型十分困难,而且气动系统易受周围环境因素的影响,当采用传统PID控制时,很难使系统长时间保持良好的控制效果,尤其是当有一定的外界干扰之后会导致系统工作不稳定。利用Matlab实时仿真模块的功能,把模糊自适应整定PID的控制算法引入到伺服系统的控制器设计中,搭建的半实物仿真模型,对系统进行半实物仿真实验,并通过不断地在线修改控制规则,提高控制器的控制性能,实验结果表明,模糊PID控制效果良好。

Because the system is affected largely by non - linear actions, such as the friction torque of pneumatic rotary actuators, the atmosphere condensablility and the pressure trait of proportional values, it＇s hard to get an accu- rate model for a pneumatic rotary actuated servo system. So when using traditional PID to control the system, the result will not be good enough, especially when disturbance exists, the system would be instable. Based on the Real - time Workshop of Matlab, a Fuzzy controller is designed for the system. A hardware - in - the - loop（HIL） model is created, and the HIL simulation test shows that the response of the system appling Fuzzy controller is satisfiactory.