非线性电液位置伺服系统的迭代学习PID控制  

PID-type Iterative Learning Control for Nonlinear Electro-hydraulic Positional Servo-system

作　　者：曹树平[1] 罗小辉[1] 张汉文[2] 涂家祥[1] 

机构地区：[1]华中科技大学,武汉430074 [2]中船重工集团第701研究所,武汉430064

出　　处：《机械科学与技术》2008年第1期19-22,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：介绍了一类具有非线性和重复运动特点的电液位置伺服系统的迭代学习PID控制方法。采用PID控制算法,利用系统重复运动的特点和计算机的记忆存储功能,将系统的每次实际输出与理想输出之间的误差应用于下一次控制过程中,即对实际输入不断进行修正,直至实际输出与期望输出间的误差达到满意为止。仿真结果表明,迭代学习PID控制算法具有实现简单、鲁棒性强和重复精度高的特点,能够对电液位置伺服系统实现有效的控制。For an electro-hydraulic positional servo-system with characteristics of non-linearity and repeating motion, a novel method, PID-type iterative learning control （ILC）, is proposed in this paper. By adopting PID control algo- rithm, and using the memory ability of a computer and the repeating characteristic of the system, the error between actual output and the desired output of the system is applied to the control process till the error is satisfactory. The resuits of simulation reveal that the PID-type ILC holds the features of simplicity, strong robustness and high repeating precision, and can well meet the control requirement of nonlinear electro-hydranlic positional servo-system.

关 键 词：非线性 电液位置伺服系统 迭代学习 PID 

分 类 号：TH138[机械工程—机械制造及自动化]