基于组合给定曲线的复合控制器伺服控制

Servo control of the composite controller based on combined given curve

研究了实际应用中板材矫直工艺对液压缸响应过程的要求,提出了组合给定曲线,从而减轻了大质量、大惯性系统在响应阶跃、斜坡信号时的冲击以及对系统的危害。结合基于跟踪-微分器的非线性比例、积分和微分控制,提出了基于组合给定曲线的位移、速度及加速度的复合控制器,并通过仿真分析和其在全液压矫直机中的实际应用验证了本文算法的可行性和实用性。

The requirements of the plate straightening process on the response process of hydraulic cylinder in the praxis were studied, a concept of combined given curve was proposed to alleviate the impact of the system with large mass and inertia during the response for the step and ramp signals and its harm on the whole system. Combined with the nonlinear PID control backed up by the tracking differentiator, a composite controller was proposed based on the combined given curves of the displacement, velocity and acceleration. The feasibility and practicality of the proposed algorithm were verified by simulations and the practical application in the full-hydraulic straightening machine.