高速开关阀控气动位置伺服系统的模糊自适应PID控制

Fuzzy Adaptive PID Control of Pneumatic Position Servo System Using High-speed On/Off Valves

为实现高速开关阀控气动位置伺服系统的精确控制,以4个高速开关阀控制气缸的结构作为研究对象,提出一种模糊自适应PID算法以提高其控制精度。介绍了系统的结构与工作原理,并在此基础上建立系统数学模型。针对常规PID控制器难以适应多工况位置跟踪的问题,利用模糊控制原理对PID控制器的参数进行在线调整,以满足系统控制过程中对于参数的不同要求。实验结果表明,采用模糊自适应PID控制能够获得良好的位置控制性能。跟踪不同幅值阶跃信号时,均能够实现无超调位置跟踪且稳态误差小于0.2 mm,跟踪幅值为30 mm,频率为0.5 Hz的正弦信号时,最大跟踪误差、平均跟踪误差及标准跟踪误差分别为2.4,0.82,0.46 mm。

In order to achieve precise control of pneumatic position servo system using high-speed on/off valves,a structure of the cylinder controlled by four high-speed on/off valves is taken as a research object,and a fuzzy adaptive PID algorithm is proposed to improve its control accuracy.The structure and working principle of the system are presented,and its mathematical model is established.Aiming at the problem that the conventional PID controller is difficult to adapt to the position tracking under different working conditions,the principle of fuzzy control is used to adjust PID parameters online to meet the parameter requirements of the system.The experimental results show that the fuzzy adaptive PID control can obtain good position control performance.For tracking different amplitude step signals,position tracking without overshoot is achieved and the steady-state error is less than 0.2 mm.For tracking a sinusoidal trajectory with amplitude of 30 mm,frequency of 0.5 Hz,the maximum tracking error,the average tracking error and the root-mean-square tracking error are 2.4,0.82 and 0.46 mm respectively.