位置扰动性电液力伺服控制系统的复合控制研究

Study on Control of Position Disturb Electro-hydraulic Force Servo Control System

针对位置扰动型电液力伺服控制系统存在非线性、时变性因素的特点,为提高力感跟踪控制精度,提出一种学习前馈模糊自适应PID控制的复合控制策略,将其分别应用于主、副通道上。模糊自适应PID控制自动实现对PID参数的最佳调整,降低被控制对象受负载变化或内、外干扰因素的影响,使操纵负荷控制系统品质指标保持在最佳范围;学习前馈控制实现对多余力的抑制,补偿系统动态不确定性和各种扰动,降低摩擦力对稳态误差的影响,保证了力的跟踪性能。试验结果表明:该复合控制策略能够对位置扰动型电液力伺服控制系统起到良好的控制效果。

The paper presents a kind of composite control strategy which study forward-back is added fuzzy self-adap- ting P1D, based on the characteristics of non-linearity and time-denaturalization exits in position disturb electro-hydraulic force servo control system, for developing force feeling tracing control precision, and this method is applied separately on main and subsidiary routeway. The control of fuzzy self adapting PID actualizes the best adjustment of P1D parameters auto- matically; reduces influences of load changes or inside and outside interfering factors that control targets were affected by; in order to maintain control loading system in the best range of quality indicators. The control of study forward feedback makes the redundant force under restraint, compensates for system dynamic uncertainty and various disturbancee, reduces impaction that friction effect steady-state error, guarantees the tracking performance of force. The test result shows that there is favorable control effect to use the control strategy to apply to the control loading system.