摘要
针对电液位置伺服系统参数时变和外负载干扰等不确定性,建立了电液位置伺服系统数学模型.为了提高电液位置伺服系统的跟踪精度,基于分数阶控制理论,引入重复控制回路,提出一种基于重复控制补偿的分数阶PID控制策略,采用Oustaloup滤波算法实现分数阶微积分运算.应用MATLAB/Simulink仿真软件对控制策略进行验证,分析了系统开环增益、伺服阀固有频率和阻尼比、动力机构固有频率和阻尼比等参数摄动时的跟踪效果.仿真结果表明:所提控制策略有效提高了电液位置伺服系统的跟踪精度,抗参数摄动能力较强,鲁棒性较好.
Aiming at the uncertainties such as time varying parameters and external load disturbance of an electro-hydraulic position servo system,the mathematical model of the electro-hydraulic position servo system was established. To improve the tracking accuracy of the electro-hydraulic position servo system,a type of fractional order PID control strategy based on repetitive control compensation was proposed,and the Oustaloup filtering algorithm was adopted to realize the computing of fractional calculus. Then,MATLAB / Simulink software was used to verify the control strategy,the tracking effect with the varied system open loop gain,natural frequency and damping ratio of servo valve,and natural frequency and damping ratio of power mechanism was analyzed. Simulation results show that the proposed control strategy not only improves the tracking accuracy of electro-hydraulic position servo system effectively,but also has strong anti-parameter-perturbation ability and good robustness.
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2015年第4期519-525,共7页
Journal of Beijing University of Technology
基金
国际科技合作项目(2012DFR70840)
