摘要
针对液压机械手的电液比例系统存在较大程度的系统参数变化和负载干扰等特点,一般控制方法难以全部满足性能要求。常规PID控制方法虽然算法简单、可靠性好、鲁棒性高,但由于参数整定繁杂,往往造成参数整定不良、性能欠佳、适用性能差。为了改善这些缺陷,将模糊控制理论与PID控制理论相结合,设计了模糊PID控制器,实现了对PID参数的在线整定。利用MATLAB/Simulink进行仿真,比较常规PID控制与模糊PID控制下电液比例系统的控制效果,发现模糊PID控制器较好地克服了系统的非线性和负载干扰的影响,提高了系统的稳定性和动态性能。
Owing to the characteristics of the parameter variation and external disturbance of the electrohydraulic proportional system Of a hydraulic manipulator, it is hard for ordinary methods to completely meet the performance requirements. Though the conventional PID control method has simple algorithm, high reliability and good robust ness, it also has many disadvantages, such as miscellaneous parameters and bad adaptability. To improve its per formance, we designed a fuzzy PID controller by combining fuzzy logic control with PID control. The output of the fuzzy PID controller can adjust online the parameters of the Conventional PID controller. We use the MATLAB/Sim ulink to simulate the performance of our fuzzy PID controller, which is then compared with that of the conventional PID controller; the simulation results show preliminarily that our fuzzy PID controller is more capable of overcoming the nonlinear and external disturbance of the electrohydraulic proportional system and can greatly improve its sta bility and dynamic performance.
出处
《机械科学与技术》
CSCD
北大核心
2013年第6期834-838,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
陕西省工业攻关项目(2012K10-10)资助
关键词
PID控制
模糊PID控制器
液压机械手
电液比例系统
仿真
design
MATLAB
control
PID control
fuzzy PID controller
hydraulic manipulator
electro-hydraulic proportional system
