摘要
高空作业平台调平系统是一个复杂非线性系统,作业环境非常复杂且受到很多干扰。针对此提出了基于干扰观测器和RC滤波的CMAC神经网络PID并行控制的策略。以某型54 m高空作业平台电液比例调平系统为例,以AMESim仿真软件作为主仿真环境,通过软件接口将MATLAB\Simulink控制系统模型集成到AMESim中进行协同仿真。结果表明:与传统CMAC网络PID并行控制以及单纯PID控制相比较,改进的并行控制对负载扰动和模型失配表现出更强的适应性和鲁棒性,而且不论在任何阶段,都具有良好的跟踪效果。
Aerial work platform leveling system is a complicated nonlinear system working under very complex conditions and suffering from much interference.The integrated CMAC（Cerebellar Model Articulation Controller） and PID（Proportion,Integral,and Derivative） control strategy based on disturbance observer and RC（Resistance Capacitance） low-pass filter was presented.For a certain 54m aerial work platform electro-hydraulic proportional leveling system,the AMESim（Advanced Modeling Environment for Performing Simulations of Engineering Systems） was taken as the main simulation environment;the controller model was imported into AMESim by software interfaces.Simulation results show that compared with the CMAC and traditional PID combined control method and PID control,the modified combined controller has better adaptability and higher robustness for mathematic model change or system load disturbance.In addition,the controller can well track the given signal at any phase.
出处
《机械科学与技术》
CSCD
北大核心
2010年第4期537-541,共5页
Mechanical Science and Technology for Aerospace Engineering
关键词
高空作业平台
CMAC网络
PID控制
并行控制
协同仿真
aerial work platform
CMAC network
PID controller
compound controller
collaborative simulation
