基于CMAC控制器的可变幅电液伺服系统优化及验证  

Optimization and verification of variable amplitude electro-hydraulic servo system based on CMAC controller

作　　者：乔丽霞[1] 王丽娟[1] 刘清涛 许利君 QIAO Lixia;WANG Lijuan;LIU Qingtao;XU Lijun(School of Automobile,Henan College of Transportation,Zhengzhou 450005,Henan,China;Shaanxi Key Laboratory of Highway Construction Machinery,Chang’an University,Xi’an 710064,Shaanxi,China;Research and Development Center,Henan Aote Technology Co.,Ltd.,Zhengzhou 450005,Henan,China)

机构地区：[1]河南交通职业技术学院汽车学院,河南郑州450005 [2]长安大学高速公路施工机械陕西省重点实验室,陕西西安710064 [3]河南奥特科技有限公司研发中心,河南郑州450005

出　　处：《中国工程机械学报》2022年第2期156-160,166,共6页Chinese Journal of Construction Machinery

基　　金：河南省高等学校青年骨干培养计划基金资助项目(2016GGJS-249)。

摘　　要：为了构建更高运动精度的机械模型,本文设计了一种柔性联接结构建立的可变幅电液伺服系统。分析液压伺服系统阀控缸动平衡方程,并给出了系统控制流程。根据小脑模型神经网络(CMAC)控制方法,利用柔性联接方法建立可变幅电液伺服系统,使瞬态平衡响应阶段实现优异动态控制效果。研究结果表明:以PID构建的CMAC对可变幅电液伺服系统形成了稳定性更高的闭环系统,更大幅度的低频段增益效果,提升系统控制精度,实现对柔性联接可变幅电液伺服系统起到理想的校正作用。以CMAC控制器对电液伺服控制结构调控,提升了系统低频状态下的负载位移输出精度,有效控制了幅值衰减程度,达到了更高跟踪精度,显著提升了系统的整体跟踪效果。In order to build a mechanical model with higher motion accuracy,a variable amplitude electro-hydraulic servo system based on flexible coupling structure.The dynamic balance equation of valve-controlled cylinder in hydraulic servo system was analyzed,and the control flow of system was given.According to the cerebellum model neural network(CMAC) control method,a variable amplitude electro-hydraulic servo system was established by using flexible connection method,which achieves excellent dynamic control effect in transient equilibrium response stage.The results show that the CMAC based on PID can form a closed-loop system with higher stability for the variable amplitude electro-hydraulic servo system,form a larger low-band gain effect,improve the control accuracy of system,and realize the ideal correction of the flexible connection variable amplitude electro-hydraulic servo system.When using CMAC controller to control electro-hydraulic servo control structure,the output accuracy of load displacement under low frequency is improved,the attenuation degree of amplitude is effectively controlled,and the tracking accuracy is higher,and the overall tracking effect of system is significantly improved.

关 键 词：电液伺服系统 位移控制 小脑模型神经网络(CMAC) 跟踪性能 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]