液压仿真转台的PFC-PID串级控制

PFC-PID Cascade Control of Hydraulic Simulator

针对三轴液压仿真转台系统难以获得精确数学模型,存在较大参数变化和各种干扰,常规控制方法难以获得良好控制效果的特点,找到一种适合三轴液压转台的预测函数控制(PFC)策略,并与PID控制相结合,提出PFC-PID串级控制并应用于液压仿真转台系统。系统内回路采用PID控制克服各种干扰,内回路和液压仿真转台对象构成PFC的广义被控对象,对广义被控对象采用PFC控制拓展系统频宽,改善系统性能。对三轴液压仿真转台的仿真研究结果表明了该方法的有效性和优越性。

The traditional control methods can not satisfy the performance requirements when the methods are used to control three-axis hydraulic simulator that is difficult to get the explicit mathematical model, and has many disturbances and diversified system parameter changes. The basic theory of predictive functional control （PFC） and its various algorithms applied to different control systems are introduced and analyzed and the suitable PFC algorithm is applied to three-axis hydraulic simulator. The PFC-PID cascade control strategy that combines PFC with PID control is presented to satisfy the control index of three-axis hydraulic simulator. Internal loop of the system adopts PID control strategy in order to eliminate the influence of different disturbances. The internal loop and three-axis hydraulic simulator constitute the generalized control plant of PFC. The response speed and the good synthesis performance index are obtained by PFC in the extern loop. The simulation results indicate the efficiency and superiority of the PFC-PID controller.