基于CMAC的PID控制在电液伺服系统中的应用

CMAC-Based PID Control and Application to Electrohydraulic Servo Systems

在电液伺服系统的跟踪控制问题的研究中,跟踪延迟影响动态性能。为提高系统的跟踪动态性能,提出在常规的PID控制的基础上,引入了一种小脑模型关节控制器(Cerebellar Model Articulation Controller,CMAC)的思想。利用CMAC与PID设计复合控制器,小脑模型神经控制器实现前馈控制,常规控制器实现反馈控制,从而显著提高了系统的快速跟踪能力,并有效克服了系统的不确定性因素等问题。以某电液位置伺服系统的跟踪控制问题为例,应用所设计的控制算法,仿真系统在不同频率下正弦信号的跟踪问题,仿真结果表明改进方法能获得良好的跟踪效果,具有一定的鲁棒性,对于消除系统的不确定性具有良好的控制作用。

In view of the tracking control problem of the electrohydraulic servo systems,shortcomings of tracking detention are usually existed in the traditional control methods.In order to solve this problem,an idea of Cerebellar Model Articulation Controller is introduced by the paper based on conventional PID control.First,a combined controller is designed by using CMAC and PID,in which,the CMAC realizes feed-forward control and the conventional controller realizes feedback control.The swift tracking ability of the system is improved significantly,meanwhile,the problems of uncertainties and etc.are overcame effectively.At last,an example about tracking control problem of the electro-hydraulic position servo systems is given.By applying the designed control algorithm to the system and analyzing the tracking problems of system in different frequency sinusoidal signals,simulation results show that a good tracking performance can be obtained,a strong robustness can be ensured and a better control effect can be obtained on suppressing and eliminating the uncertainties of system by using the presented control strategy.