基于模糊控制的液压捕捉系统研究

Research on the Hydraulic Control System for Capture Based on Fuzzy Control

捕捉具有随机特性的快速移动物体是控制领域的一项难题。鉴于基于液压技术的捕捉控制系统研究较少,以及液压缸在快速直线位置控制上的优势,通过电液比例方向阀控制高速液压缸构建了1套捕捉液压控制系统。基于复合控制策略和模糊自适应PID控制策略,控制液压缸快速地跟踪上随机目标,与目标保持相对静止,从而为捕捉动作创造条件。相关的算法通过实验得到了验证。

Catching a moving object with stochastic property is difficult in control filed. Given advantage of hydraulic cylinder in position control, this paper presents a novel electro-hydraulic proportional control system for fast capture, which is constituted of hydraulic cylinder, proportional valve and displacement transducer. Based on compound control and adaptive fuzzy PID control, hydraulic cylinder is controlled to track the target and keep relative stationary to the target, which provides opportunity for capture. The algorithm has been demonstrated through experiment.