摘要
由于电液伺服系统位置控制和力控制在控制方法和控制参数上都有所不同,在进行力控制和位置控制切换时将产生跳变。为了解决这一问题,提出了基于修正因子的模糊切换控制方法。对电液伺服力—位置综合系统进行了理论分析,分别建立了位置控制系统和力控制系统的数学模型。在液压缸接触到受力物体时采用模糊控制方法进行力控制,在脱离受力物体时则采用PID进行位置控制以保持液压缸位置不变。采用基于修正因子的模糊切换控制方法来削弱切换时产生的跳变。最后在电液伺服系统综合实验台上进行实验。实验结果表明所提出的模糊切换控制方法有效地削弱了切换时产生的抖动和跳变,保证了两种目标控制之间的平滑过渡。
Due to the differences of control methods and control parameters between position control and force control,when the position control and the force control switch,there are jitters. To solve this problem,a fuzzy switching control method based on correction factor was proposed. The electro-hydraulic force-position servo system was analyzed theoretically,and the mathematical models of the force control and the position control are established. When the hydraulic cylinder contacted with the object,fuzzy control method was adopted to execute the force control,when the hydraulic cylinder got away from the object,PID was used for position control to maintain the unchanged position of the hydraulic cylinder. A fuzzy switching control method based on correction factor was put forward to reduce the jitters during switching. Finally the experiments were carried out under the electro-hydraulic servo integration test bed. The experimental results show that the proposed fuzzy switching control method effectively weakens the jitters and transitions during switching,and ensures a smooth transition between the two control strategies.
出处
《电机与控制学报》
EI
CSCD
北大核心
2014年第5期99-104,共6页
Electric Machines and Control
基金
国家国际合作专项(2012DFR70840)
关键词
电液伺服系统
位置控制
力控制
模糊控制
切换控制
electro-hydraulic servo system
position control
force control
fuzzy control
switching control
