液压舵机伺服系统的专家PID控制

Expert PID Control of Hydraulic Actuator Servo System 

摘要:

为了更好地分析与优化液压舵机的控制性能,根据控制理论建立了液压舵机伺服系统的数学模型；针对采用常规控制方法液压舵机系统响应速度慢、抗干扰能力差等问题,在对专家经验进行总结并获取5条控制规则后,设计了专家PID控制器；在单位阶跃信号的作用下,运用Matlab/Simulink对该液压舵机系统进行仿真；仿真结果表明,与常规PID控制、P控制相比,专家PID控制使系统调节时间缩短了0.104 s,缩减幅度达71%,受到干扰后再次稳定的时间缩短了0.034 s,有效地提高了快速性和抗干扰性,获得了良好的控制效果。

Abstract:

In order to analyze and optimize the control performance of the hydraulic actuator better, the model of hydraulic actuator servo system is established based on control theories. Hydraulic actuator system based on conventional control method has low converging speed and low ability of anti-jamming. Aiming at these problems, expert experience is summarized and five control rules are got, then expert PID controller is designed. At last the hydraulic actuator system is simulated with Matlab/simulink under the effect of unit step signal. The result shows that compared with PID control and P control, expert PID control makes the accommodative time is cut by 0.104s, the cut extent attain 71%, and the time of accommodativeness after being got disturbance is cut by 0.034s. It effectively raises the rapidity and anti- disturbance of the system and gets a good control result. 