内模控制在液压伺服系统中的应用

Application of Internal Model Control in Hydraulic Servo System

针对液压伺服系统控制的复杂性,提出了一种基于内模控制原理的双闭环PID控制方法。该方法利用PID控制的抗扰性实现内环的比例控制,并将被控对象转化为含时滞的一阶惯性环节,且对时滞环节进行1/1Pade逼近,再利用内模控制原理实现外环控制,可获得与内模控制器等效的低通滤波器和PID控制器。给出了内模控制器设计的具体步骤,通过仿真实验证明该方法比常规PID控制器具有较强的抗扰性和鲁棒性,且有较高的工程应用价值。

Aimed at the complexity of hydraulic vibrancy platform, a PID control method of double closed loop control based on IMC control principle was proposed. It uses the contradiction of PID to realize proportion control in inner loop, and handle the con- trolled object as a first-order lag element including the time lag unit. After approximating the time lag unit using the Pade approxima- tion, and using IMC control principle to realize outer loop control, the lowpass and PID controller equivalent to IMC controller were obtained. The steps for designing of IMC controller was given. The simulation experiment shows that the control way is superior to the general PID method in anti-interference and robustness.