基于模糊PID的电液位置伺服系统建模与仿真  

Modeling and Simulation of Electro-hydraulic Position Servo System Based on Fuzzy PID

作　　者：胡昆 李思超 鲁元昊 艾学忠[1] Hu Kun;Li Sichao;Lu Yuanhao;Ai Xuezhong(College of Information and Control Engineering,Jilin University of Chemical Technology,Jilin,Jilin 132000,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132000

出　　处：《机电工程技术》2023年第4期90-94,共5页Mechanical & Electrical Engineering Technology

基　　金：吉林省科技发展计划项目(编号:20190302063GX)。

摘　　要：针对特种车辆在行驶过程中车身稳定性要求,设计了一种基于模糊PID的电液位置伺服控制系统作为车辆主动悬架的伺服作动器。根据电液位置伺服系统的物理结构和工作特点,推导出系统各个环节的传递函数。利用MATLAB/Simulink仿真分析系统的动态响应与信号跟踪能力,分析闭环系统负载变化时的单位阶跃响应曲线、不同频率下的正弦波输入输出曲线。结果表明,基于PID和模糊PID控制的电液位置系统的单位阶跃响应最大超调量分别为19.5%和0,调节时间分别为251 ms和117 ms。当负载质量变化时,基于PID控制的系统的单位阶跃响应存在明显波动,而模糊PID控制的系统的单位阶跃响应基本没有变化。当分别输入不同频率的正弦波信号时,模糊PID控制的系统的跟踪性能和稳态误差都明显优于PID的控制效果。因此,模糊PID控制下的电液位置伺服系统实现了不同负载质量下的位置控制输出以及不同频率下系统的跟踪性能,满足系统的稳定性与快速性要求。A fuzzy PID based electro-hydraulic position servo control system was designed as a servo actuator for the active vehicle suspension to meet the requirements of the heavy vehicle stability during driving.Based on the physical structure and working characteristics of the electro-hydraulic position servo actuator,the transfer functions of each link of the system were derived.Using MATLAB/Simulink to simulate and analyze the dynamic response and signal tracking ability of the system,the unit step response curve when the load of the closed-loop system changes,and the sine wave input and output curve at different frequencies,were obtained and analyzed.The results show that the maximum overshoot of unit step response of the electro-hydraulic position system based on PID and fuzzy PID control is 19.5%and 0 respectively,and the adjustment time is 251 ms and 117 ms respectively.When the load quality changes,the unit step response of the system based on PID control fluctuates significantly,while the unit step response of the system based on fuzzy PID control basically remains unchanged.When inputting sine wave signals of different frequencies separately,the tracking performance and steady-state error of the fuzzy PID control system are significantly better than the control effect of PID.Therefore,the electro-hydraulic position servo system under fuzzy PID control achieves position control output under different load masses and tracking performance of the system at different frequencies,and meets the stability and speed requirements of the system.

关 键 词：模糊PID 液压 位置控制 

分 类 号：TH137[机械工程—机械制造及自动化]