非线性电液位置伺服系统的自学习滑模模糊控制

针对电液伺服系统存在参数变化、负载干扰等非线性因素，且难以建立精确的数学模型用于实时控制的特点，将一种自学习滑模模糊控制方法应用于电液伺服系统，并将滑模控制策略应用于模糊控制中，建立以滑模函数值为输入、伺服阀控制电压为输出、模糊规则只有11个的简单模糊控制器，通过在线学习调整模糊规则使系统状态快速滑向状态平衡点。该控制方法结合了滑模控制和自适应模糊控制，鲁棒性强、结构简单。仿真和实时控制结果表明：在电液位置伺服系统中取得良好的控制精度和稳定性。

Self-organizing Sliding Mode Fuzzy Control for Electro-hydraulic Position Servo Nonlinear Systems

Electro- hydraulic servo systems have strong nonlinear characteristics such as parameter uncertainties, load disturbance, and so on. And it is difficulty to establish precise math model for real - time control. Based on these factors, a self - organizing sliding mode fuzy control approach was proposed for electro - hydraulic servo system. This control approach applies sliding mode control strategy to fuzzy control, and establishes a simple fuzzy controller whose input is sliding mode function, and whose output is control voltage of servo valve, and whose fuzzy ruler - base is only eleven rulers. It makes system state quickly slide to state balance point through organizing fuzzy rulers online. This approach combines sliding mode controller and adapts fuzzy controller, and it is robustness and structure simpliness. The results of simulation and experiment of real - time control show that the proposed control approach has good control precision and stability in electro - hydraulic position servo systems.