基于模糊PID的变幅液压缸伺服位置自适应同步控制技术  

Adaptive Synchronous Control Technology for Servo Position of Variable Amplitude Hydraulic Cylinder Based on Fuzzy PID

作　　者：李晶 LI Jing(Shanghai Jian Qiao University,Shanghai 201306 China)

机构地区：[1]上海建桥学院机电学院,上海201306

出　　处：《液压气动与密封》2024年第3期73-78,共6页Hydraulics Pneumatics & Seals

基　　金：上海市自然科学基金(22178155)。

摘　　要：液压系统中存在许多非线性因素,例如摩擦、死区和溢流等。这些非线性特性会影响伺服位置的精度和同步性能,导致控制系统的不稳定和误差积累。为此,提出基于模糊PID的变幅液压缸伺服位置自适应同步控制技术。考虑变幅液压缸伺服系统的运行结构,分析变幅液压缸动力,构建液压缸以及伺服阀的数学模型;利用伺服输出流量和压降的关系,获取速度前馈控制信号;将其反馈到系统中,设计模糊自适应PID同步控制器,实现变幅液压缸伺服位置同步控制。实验结果表明,所提方法对液压缸的同步效果很好,有效减少了液压缸伺服位置控制的误差,在不同信号干扰下,有效提高其控制稳定性和同步性能,控制器超调量平均约为0.059%,响应速度较快。There are many nonlinear factors in hydraulic system,such as friction,dead zone and overflow.These nonlinear characteristics will affect the servo position accuracy and synchronization performance,resulting in instability and error accumulation of the control system.Therefore,the adaptive synchronous control technology of variable amplitude hydraulic cylinder servo position based on fuzzy PID is proposed.Considering the operating structure of the servo system of the variable amplitude hydraulic cylinder,the power of the variable amplitude hydraulic cylinder is analyzed,and the mathematical model of the hydraulic cylinder and the servo valve is constructed.Using the relationship between servo output flow and pressure drop,the speed feedforward control signal is obtained.The fuzzy adaptive PID synchronous controller is designed to realize synchronous control of servo position of variable amplitude hydraulic cylinder.The experimental results show that the proposed method has a good synchronization effect on the hydraulic cylinder,ffectively reduces the servo position control error of the hydraulic cylinder,and effectively improves the control stability and synchronization performance under dfferent signal interference.The average overshoot of the controller is about 0.059%,and the response speed is fast.

关 键 词：液压缸伺服位置 液压缸数学模型 速度前馈计算 模糊PID 自适应同步控制 

分 类 号：TH137[机械工程—机械制造及自动化]