双缸液压系统活塞运动轨迹同步模糊控制研究

Research on Synchronous Fuzzy Control of Duplex Hydraulic Piston Trajectory

针对负载不平衡的双液压缸同步运动控制问题,提出一种活塞运动轨迹同步模糊控制方法。该方法首先采用基于轨迹约束的控制器将两液压缸的同步误差限制在一定范围内,并使活塞杆运动平滑。在模糊控制的基础上,引入两个模糊控制器,分别用于消除液压缸的轨迹跟踪误差和液压缸之间的同步误差。实验结果表明:即使两液压缸存在较大的负载不平衡,该复合控制方法仍能将系统的同步运动误差控制在±10 mm以内,且系统运动具有很好的平滑性。

Aiming at the synchronous control for dual-cylinder with unbalanced and uncertainty loading, a hybrid control method integrated feed-forward control and fuzzy feedback control was proposed. First, a feed-forward controller for each cylinder based on trajectory restrains was developed to limit the motion and synchronous error to a certain extent, also to smooth the piston motion. Then, two fuzzy controllers were specified to improve the tracking performance of cylinder and to compensate the synchronous error. The simulation experimental results show that the proposed hybrid control strategy can control the maximum synchronous error of the total system to be within ± 10 mm under the consideration of large load imbalance, and makes the system motion have a good smoothness.