电液伺服系统的扩展自耦PD控制

Auto-coupling PID control of electro-hydraulic servo system

针对具有高度非线性和参数不确定性的3阶电液伺服系统,基于自耦PID控制理论提出了一种扩展自耦PD控制方法。通过将电液伺服系统内部动态与外部不确定因素定义为总扰动,使3阶非线性系统等价映射为3阶线性扰动系统,形成一个在总扰动激励下的受控误差系统,并以自适应速度因子为基础设计了扩展自耦PD控制器,理论分析了扩展自耦PD闭环控制系统具有良好的鲁棒稳定性和抗扰动鲁棒性。仿真实验表明:该控制方法不仅动态响应速度快,且稳态控制精度高,因此在电液伺服系统领域具有良好的实际应用前景。

For the third order electro-hydraulic servo system with high nonlinear and parameter uncertainty,an Extended Auto-Coupling PD control method based on the Auto-Coupling PID control theory is proposed.By defining the internal dynamics and external uncertainties of the electro-hydraulic servo system as total disturbances,the third-order nonlinear system is equivalently mapped to a third-order linear disturbance system,forming a controlled error system under total disturbance excitation.Based on the adaptive speed factor,an extended Auto-Coupling PD controller is designed,and theoretical analysis shows that the extended Auto-Coupling PD closed-loop control system has good robust stability and disturbance resistance robustness.The simulation results show that the proposed control method not only has high dynamic response speed,but also high steady-state control precision,so it has a good practical application prospect in the field of electro-hydraulic servo system.