结合重复控制补偿和CMAC的液压伺服系统PID控制研究  

PID Control of Hydraulic Servo System that Combines Repetitive Compensation Control with CMAC

作　　者：张丹红[1] 胡孝芳[1] 苏义鑫[1] 沈俊[1] 

机构地区：[1]武汉理工大学自动化学院,武汉430070

出　　处：《机械科学与技术》2012年第5期749-752,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：湖北省自然科学基金项目(2009CDB082)资助

摘　　要：目前液压伺服系统广泛应用于航空航天等高精尖领域,要求输出快速无超调地跟踪输入指令,并且控制精度高。针对液压伺服系统的强非线性特性和重复运动的特点,结合重复控制补偿和CMAC的优点,将CMAC和重复控制补偿与PID控制相结合构建一种复合PID控制器,用于液压伺服系统的位置控制。仿真结果表明:该复合PID控制方法与单纯的CMAC与PID并行的控制器相比,提高了系统对周期信号的跟踪精度,提高了系统的响应速度,增强了系统的抗干扰能力。Widely used in aerospace and other high-tech areas,hydraulic servo systems require that their output should quickly track the input instructions without overshoot and that their control accuracy be good.To address the strong nonlinearity and repetitive motion of a hydraulic servo system,this paper takes advantage of repetitive control compensation and CMAC（Cerebellar Model Articulation Controller） to construct a compound PID controller by combining repetitive control compensation and CMAC with PID,which is used to carry out the position control of the hydraulic servo system.The simulation results show that compared with both the CMAC and the CMAC and PID parallel controller,our compound PID controller can enhance the response speed of the hydraulic servo system and the accuracy for tracking its periodical signals,thus enhancing its interference suppression capability.

关 键 词：液压伺服系统 CMAC 重复控制补偿 PID 仿真 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]