电液力伺服系统控制策略的半实物仿真  

A Semi Physical Simulation of Electro-hydraulic Driving Force Servo System Control Strategy

作　　者：韩桂华[1] 崔燕[1] 于凤丽[1] 

机构地区：[1]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080

出　　处：《哈尔滨理工大学学报》2016年第6期73-78,共6页Journal of Harbin University of Science and Technology

基　　金：国家自然科学基金(51305108)

摘　　要：通过在半实物仿真环境中进行模型辨识试验,获得电液力伺服系统的辨识模型.为了改善电液力伺服系统的控制性能,设计了一种复合模糊PID控制器.这种控制器结合了经典PID控制器和带有自调整修正因子的模糊控制器的优点,并加入了前馈校正.为了避免由于两种控制方式相互切换时造成的不良扰动,采用了模糊切换的方法 .通过在电液伺服试验台上对所设计的复合模糊PID控制器进行半实物仿真实验,并对比PID控制器和传统模糊控制器的实验控制曲线,验证了复合模糊PID控制器的可行性和控制性能.同时在负载刚度和质量变化时进行了半实物仿真实验,实验结果表明,复合模糊PID控制器不仅改善了稳定性和速度,并具有良好的实时性.The identification model of electro-hydraulic force servo system was obtained by using the model identification test in the semi physical simulation environment.In order to improve the control performance of the electro-hydraulic force servo system,a hybrid fuzzy PID controller was designed.This controller has combined the advantages of the classical PID controller and the fuzzy controller with self-tuning modifying factor,and added a feed-forward correction.In order to avoid the bad disturbance caused by swiching between the two kinds of control modes,the fuzzy switching method was adopted.The semi physical simulation experiment of the hybrid fuzzy PID controller was carried out on the electro hydraulic servo test bench,and compared with the control experimental curve of the traditional fuzzy controller and PID controller,The feasibility and control performance of the hybrid fuzzy PID controller were verified.At the same time,The semi-physical simulation experiment was carried out when the load stiffness and the mass were change.The experimental results show that,the hybrid fuzzy PID controller not only improves the stability and speed,and has good real-time performance.

关 键 词：力伺服系统 模型辨识 复合模糊PID控制器 半物理仿真 自调整修正因子 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]