基于模糊PID控制器的电液负载模拟系统  

Electro-hydraulic load systems based on fuzzy PID controller

作　　者：杨钢[1] 刘迎雨[1] 杜经民[1] 李宝仁[1] 

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2012年第4期59-62,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50975102)

摘　　要：基于传统控制理论建立双马达加载工况下的系统数学模型,分析多余力矩的产生机理和特性,并以被控对象的速度为观测量,提出基于结构不变性原理的速度前馈补偿.针对常规PID控制器无法解决系统非线性和参数时变性等问题,设计了以系统的误差和误差变化率为输入量的模糊PID控制器.仿真结果表明:速度前馈补偿克服了近97%的多余力矩;模糊PID控制器能较好地改善系统在高频段的控制性能.The mathematical model of the system with the dual motor loading condition was implemented based on the traditional control theory and the generation mechanism of the surplus torque was analyzed. Speed-feedforward compensation was proposed based on the speed of the controlled object and fuzzy PID （proportion integration differentiation） controller was designed for the problems of nonlinearity and time-varying parameters of the system. The results show that the speed-feedforward compensation can overcame the surplus torque by 97% nearly and the control performance of the system at the high frequency is improved by fuzzy PID controller.

关 键 词：电液负载模拟系统 多余力矩 速度前馈补偿 结构不变性原理 模糊PID控制器 

分 类 号：TH137[机械工程—机械制造及自动化]