基于模糊自适应PID控制器的液压驱动主轴速度控制的研究  

Research on speed control of hydraulic drive spindle based on fuzzy adaptive PID controller

作　　者：石晨迪 张语迟[2] SHI Chendi;ZHANG Yuchi(Department of Mechanical and Electrical Engineering,Jilin Engineering Vocational College,Siping 136001,Jilin,China;Central Laboratory,Changchun Normal University,Changchun 130032,Jilin,China)

机构地区：[1]吉林工程职业学院机电工程学院,吉林四平136001 [2]长春师范大学中心实验室,吉林长春130032

出　　处：《中国工程机械学报》2020年第6期516-520,共5页Chinese Journal of Construction Machinery

基　　金：吉林省科技发展计划项目(20140311032YY)。

摘　　要：对液压驱动主轴速度的准确控制有助于提高产品的精度,本文在分析液压驱动主轴数学模型分析的基础上,设计了一种基于模糊自适应PID控制器的液压驱动主轴速度控制的研究。通过对液压驱动主轴变速器组速度控制系统进行研究,明确了其工作原理。接着对液压系统自动传动和控制部分进行分析,得出了工作轴以及液压马达相关机构上的数学模型。将系统输入和输出之间的误差及误差的导数作为输入信号,采用模糊推理算法对传统PID控制器的参数进行模糊检测调整,形成模糊自适应PID控制器,对液压驱动主轴速度进行准确的控制。为了验证所设计模糊自适应PID控制器的有效性,利用其与传统PID方法对阶跃响应以及正弦响应信号进行了拟合。实验结果显示:在对阶跃响应信号拟合时,所设计模糊自适应PID控制器较传统PID方法最大偏离度减少了4.4%;在对正弦响应信号拟合时,所设计模糊自适应PID控制器较传统PID方法最大偏离度减少了3.83%。实验结果表明:所设计方法能够对液压驱动主轴的速度进行较准确的控制。Accurate control of the speed of the hydraulic drive spindle is helpful to improve the accuracy of the product.Based on the analysis of the mathematical model of the hydraulic drive spindle,this paper designs a study of the speed control of the hydraulic drive spindle based on the fuzzy adaptive PID controller.Through the study of the speed control system of the hydraulic drive spindle transmission set,the working principle of the system is clarified.Then,the automatic transmission and control part of the hydraulic system are analyzed,and the mathematical models of the working shaft and the related mechanism of the hydraulic motor are obtained.The error between the input and output of the system and the derivative of the error are taken as input signals,and the parameters of the traditional PID controller are adjusted by using the fuzzy reasoning algorithm to form a fuzzy adaptive PID controller,which can accurately control the speed of the hydraulic drive spindle.In order to verify the effectiveness of the designed fuzzy adaptive PID controller,step response and sinusoidal response signals are fitted with the traditional PID method.The experimental results show that the maximum deviation of the designed fuzzy adaptive PID controller is 4.4%less than that of the traditional PID method when the step response signal is fitted.When the sinusoidal response signal is fitted,the maximum deviation of the designed fuzzy adaptive PID controller is reduced by 3.83%compared with the traditional PID method.The experimental results show that the design method can accurately control the speed of the hydraulic drive spindle.

关 键 词：液压驱动主轴 速度控制 PID 模糊自适应PID 液压马达 

分 类 号：U463[机械工程—车辆工程]