摘要
针对被动式电液伺服加载系统控制过程中的非线性,参数的时变性以及位置扰动引起的多余力等问题,提出了CMAC-PID并行的控制算法;建立系统的非线性数学模型,采用现代控制理论与经典控制理论相结合的方法对系统进行优化设计;利用PID控制器实现反馈控制,并为CMAC网络提供导师信号,CMAC神经网络进行前馈控制,减小多余力、参数时变性对系统带来的干扰,实现非线性逼近;仿真结果表明:CMAC-PID算法可将多余力控制在常规控制的22.5%,其跟踪精度高,抗干扰能力、鲁棒性更强,能优化系统的性能,为实际应用提供了参考。
CMAC-PID control algorithm has been put forward to figure out the problems in the control process of the passive electro-hydraulic servo loading system,such as the nonlinear problem,the time varying of the parameters,the redundant force aroused by the position disturbance.Firstly,the nonlinear mathematical model of the system has been established,and the method combined by the modern control theory and classical control theory has been adopted to design the system optimally.The simulation results show that the CMAC-PID algorithm can realize the curve tracking with high precision,and it has a strong ability to resist interferences.What＇s more,this algorithm has good robust and can optimize the performance of the system.In a word,CMAC-PID algorithm provided references to the practical application.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第2期349-351,359,共4页
Computer Measurement &Control
基金
西北工业大学研究生创新种子基金赞助(Z2011068)
关键词
被动加载
CMAC神经网络
多余力
非线性
passive electro-hydraulic servo loading
CMAC
surplus torque
nonlinear
