带补偿因子的双模糊控制在电液伺服阀控非对称缸系统上的应用研究

doi:10.3901/JME.2017.24.184

机械工程学报 ›› 2017, Vol. 53 ›› Issue (24): 184-192.doi: 10.3901/JME.2017.24.184

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带补偿因子的双模糊控制在电液伺服阀控非对称缸系统上的应用研究

彭辉^1,2, 王军政^1,2, 沈伟^1,2, 李多扬^1,2

1. 北京理工大学自动化学院北京 100081;
2. 复杂系统智能控制与决策国家重点实验室北京 100081

收稿日期:2016-10-29 修回日期:2017-07-20 发布日期:2017-12-20
通讯作者: 沈伟(通信作者),男,1980年出生,博士,讲师。主要研究方向为运动驱动与控制,伺服系统静动态性能测试,电液伺服控制,先进机器人技术。E-mail:sw_she@bit.edu.cn
作者简介:彭辉,男,1989年出生,博士研究生。主要研究方向为电液伺服控制,运动驱动与控制,先进机器人技术,基于超级电容的能量回收技术。E-mail:penghui_bit@163.com
基金资助:
国家自然科学基金资助项目（51675041）。

Double Fuzzy Control with Compensating Factor for Electronic-hydraulic Servovalve-controlled System

PENG Hui^1,2, WANG Junzheng^1,2, SHEN Wei^1,2, LI Duoyang^1,2

1. School of Automation, Beijing Institute of Technology, Beijing 100081;
2. Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081

Received:2016-10-29 Revised:2017-07-20 Published:2017-12-20

摘要/Abstract

摘要： 为解决电液伺服阀控非对称缸系统在进行对称运动时由于液压缸的非对称性带来的控制非对称问题，提出一种含补偿因子的双模糊控制算法。以电液伺服阀控非对称缸系统为对象，针对非对称液压缸在两个运动方向上动态特性的非对称性问题，采用含补偿因子的模糊控制器进行补偿。同时，针对负载力大范围变化的特点，采用模糊PID控制算法来适应负载的变化。模糊PID控制器及含补偿因子的模糊控制器以经过跟踪微分器处理的误差及误差的微分作为输入，模糊PID控制器输出为PID控制器各项系数，含补偿因子的模糊控制器输出为补偿因子，结合模糊PID控制器，形成有效解决非对称液压缸非对称性问题的控制方法。仿真和试验结果表明，提出的控制方法能够有效解决电液伺服阀控非对称缸系统的控制非对称性问题，并拥有良好的控制效果。

关键词: 补偿因子, 电液伺服阀控系统, 非对称缸, 双模糊控制

Abstract: To address the asymmetry problem caused by the asymmetry of the asymmetric cylinder when electronic-hydraulic servovalve-controlled system is working at symmetric motion state, a double fuzzy control method with compensating factor is proposed. Considering the electronic-hydraulic servovalve-controlled system with asymmetric cylinder, fuzzy controller with compensating factor is used to solve the asymmetry problem caused by the asymmetry of the asymmetric cylinder. Since the load force will vary in large range, the fuzzy PID controller is used to adapt the mutative load. The inputs of fuzzy PID controller and fuzzy controller with compensating factor are error and the differential of error which generated by tracking differentiator. The fuzzy PID controller output the coefficients of PID controller and the fuzzy controller with compensating factor output the compensating factor. An effective method to solve the asymmetry problem of the asymmetric cylinder is generated by combining compensating factor and the fuzzy PID controller. Simulations and experiments show that the proposed method has the ability to solve the asymmetry problem caused by the asymmetry of the asymmetric cylinder in electronic-hydraulic servovalve-controlled system, and has perfect control performance.

Key words: asymmetric cylinder, compensating factor, double fuzzy controller, electronic-hydraulic servovalve-controlled system

中图分类号:

TP273

彭辉, 王军政, 沈伟, 李多扬. 带补偿因子的双模糊控制在电液伺服阀控非对称缸系统上的应用研究[J]. 机械工程学报, 2017, 53(24): 184-192.

PENG Hui, WANG Junzheng, SHEN Wei, LI Duoyang. Double Fuzzy Control with Compensating Factor for Electronic-hydraulic Servovalve-controlled System[J]. Journal of Mechanical Engineering, 2017, 53(24): 184-192.

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带补偿因子的双模糊控制在电液伺服阀控非对称缸系统上的应用研究

Double Fuzzy Control with Compensating Factor for Electronic-hydraulic Servovalve-controlled System

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