双阀并联电液伺服力控系统的迭代学习控制

Iterative Learning Control on Double-Valve Parallel Electro-Hydraulic Servo Force Control System

针对大部分舵机电液伺服力控系统存在多余力的问题,提出采用双电液伺服阀并联控制,即高响应大流量伺服阀和p-qv伺服阀并联的控制方法。考虑系统的非线性和时变特性,采用了模糊控制与迭代学习控制相结合的控制方法,即一个控制器采用模糊学习控制,另一个采用迭代PI控制。理论分析及仿真结果表明,双阀并联控制方案在舵机启动和停车过程中可以更好地抑制多余力,同时改善了系统的加载性能、非线性和时变特性的影响。

Most of the steering gear electro-hydraulic servo force control systems have the extraneous force problem.The dual electro-hydraulic servo valve parallel control,which is of the servo valve with high response and large flow and parallel control method with p-qv servo valve,is used to solve the above puzzle.Aiming at the nonlinear and time-varying characteristics of system,the control method combining fuzzy control and iterative learning control are used,i.e.,one controller uses the fuzzy iterative learning control method,and the other uses the PI-iterative control method.The theoretical analysis and simulation results indicate that the double valve parallel control scheme has better ability to inhibit redundant force during the start and stop process of steering engine and can improve the loading performance and non-linear and time variable characteristics of system.