摘要
针对电液伺服系统的同步控制问题,提出了一种基于系统运行状态诊断、交叉耦合PID控制和定量反馈鲁棒控制理论的有效容错控制策略。该控制策略首先实时监测双缸驱动过程中的同步误差,然后根据需要切换适用于"正常"系统的交叉耦合PID控制策略和适用于"异常"系统的鲁棒控制策略,从而使系统达到动态特性和鲁棒性能要求。双缸同步驱动行车的实际应用表明,该控制策略具有较好的同步控制性能,可以较好地解决电液伺服系统同步控制问题。
An effective fault tolerant control approach with system state diagnosis, crossing coupled PID theory and quantitative feedback theory was put forward to address synchronization motion control in electro-hydraulic servo system. The proposed controller firstly monitored synchronous errors in dual-cylinder motion, then switched the suitable controller among crossing coupled PID controller for ＂normal＂ system and quantitative feedback robust controller for ＂anormal＂ system. In this way, the presented controller can achieve the requirements of system tracking and robustness. Application in travelling crane with dual-cylinder shows that the provided approach with well capability of coordination and tracking response, can preferably address synchro motion control in electro-hydraulic servo system.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2010年第11期1342-1347,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50805041)
浙江省自然科学基金资助项目(Y107024)
关键词
有效容错控制
双液压缸同步控制
定量反馈鲁棒控制
交叉耦合PID控制
effective fault tolerant control
synchro-motion control with dual cylinders
quantitative feedback robust control
crossing-coupled PID control
