| 三维非线性比例微分与小脑模型神经网络复合控制的变柔性负载电液力控制系统 |
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| 引用本文： | 徐一鸣,孙威,杨华勇,傅新.三维非线性比例微分与小脑模型神经网络复合控制的变柔性负载电液力控制系统[J].机械工程学报,2009,45(3). |
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| 作者姓名： | 徐一鸣 孙威 杨华勇 傅新 |
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| 作者单位： | 浙江大学流体传动及控制国家重点实验室,杭州,310027 |
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| 基金项目： | 国家杰出青年科学基金，国家重点基础研究发展规划(973计划) |
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| 摘 要： | 分析电液力控制系统的数学模型,提出新的三维非线性比例微分(Proportional differential,PD)与小脑模型神经网络(Cerebcllar model articulation controller,CMAC)复合控制的方法用于变柔性负载电液力控制系统.三维非线性PD对系统参数变化不敏感,使系统在负载刚度大范围变化时保持稳定;CMAC前馈控制的加入,利用其非线性逼近能力,减小了系统的跟踪相位差.对三维非线性PD与CMAC复合控制的电液力控制系统的仿真和试验结果表明,将二者结合,可有效用于时变柔性负载电液力的控制,同时该方法具有运算量小、便于在工程实践中应用的优点.
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| 关 键 词： | 三维非线性比例微分 时变柔性负载 电液力控制系统 |
Control System of Electrohydraulic Force Servo System with Time Varying Flexible Load by 3D Nonlinear Proportional Differential & Cerebellar Model Articulation Compound Controller |
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| XU Yiming,SUN Wei,YANG Huayong,FU Xin.Control System of Electrohydraulic Force Servo System with Time Varying Flexible Load by 3D Nonlinear Proportional Differential & Cerebellar Model Articulation Compound Controller[J].Chinese Journal of Mechanical Engineering,2009,45(3). |
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| Authors: | XU Yiming SUN Wei YANG Huayong FU Xin |
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| Affiliation: | State Key Laboratory of Fluid Power Transmission and Control;Zhejiang University;Hangzhou 310027 |
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| Abstract: | The mathematical model of electrohydraulic force servo system is analyzed firstly, then the 3D nonlinear proportional differential and cerebellar model articulation compound controller is designed for electrohydraulic force servo system with time varying flexible load. The 3D nonlinear proportional differential (PD) is insensitive to the change of system parameters and keeps the system stable when the load rigidity varies in a large range. Because of the nonlinear approach ability of cerebellar model articu... |
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| Keywords: | dSPACE |
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