智能分区PID控制算法在电动缸伺服系统中的研究

Research of Intelligent Partitioning PID Control Algorithm in Electric Cylinder Servo System

针对电动缸伺服系统中的非线性环节,采用带线性补偿的分区二级前馈PID控制算法;首先建立电动缸伺服系统的仿真模型,并采用单组控制参数的二级前馈PID控制算法,通过仿真发现系统存在着抖动、精度较低的问题;然后提出了具有线性补偿的分区二级前馈PID控制算法,改进了相应的控制器结构并实现控制器的数字离散化;最后通过线性补偿的方法整定实际系统在各分区的控制参数,计算出相应的控制量;对比分析实际系统的稳态误差,发现智能分区PID控制器在电动缸伺服系统中能够取得更好的控制效果。

To the nonlinear part of electric cylinder servo system, the intelligent partitioning PID control algorithm with linear compensation is adopted in this paper. Firstly, the model of the electric cylinder servo system is set up and the intelligent partitioning PID control algorithm is adopted in the system. Through the result of the simulation, the problems of dither and low precision are found in the system. Then the intelligent partitioning PID control algorithm with linear compensation is adopted. Meanwhile, the structure of the controller is improved and the corre-sponding digital discretization is realized. Finally, the control parameters of each partition are set in the actual system through the method of linear compensation and the corresponding control result is calculated. Through the comparison of the steady--state errors of the actual system, the intelligent partitioning PID controller in electric cylinder servo system can achieve satisfied control results.