| 基于模糊PID的变幅液压控制系统 |
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| 引用本文： | 陈志高,胡仕成,黎新齐. 基于模糊PID的变幅液压控制系统[J]. 液压与气动, 2021, 0(6): 156-162. DOI: 10.11832/j.issn.1000-4858.2021.06.023 |
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| 作者姓名： | 陈志高 胡仕成 黎新齐 |
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| 作者单位： | 1.中南大学机电工程学院, 湖南长沙 410083; 2.高性能复杂制造国家重点实验室,湖南长沙 410083; 3.山河智能技术中心, 湖南长沙 410100 |
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| 摘 要： | 针对高空带电机器人作业时出现臂架振动和抖动的问题,设计了基于模糊PID控制器的闭环液压控制系统.以液压缸活塞杆速度的误差和误差变化率为输入变量,经过模糊化、模糊推理、解模糊的方式来动态调节活塞杆的速度,使其达到稳定状态.以高空带电机器人的臂架变幅液压系统为研究对象,通过建立液压平衡回路数学模型得到系统的传递函数,在MA...
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| 关 键 词： | 高空带电机器人 变幅液压系统 稳定性 MATLAB仿真分析 模糊PID控制器 |
| 收稿时间： | 2020-11-10 |
Variable Amplitude Hydraulic Control System Based on Fuzzy PID |
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| CHEN Zhi-gao,HU Shi-cheng,LI Xin-qi. Variable Amplitude Hydraulic Control System Based on Fuzzy PID[J]. Chinese Hydraulics & Pneumatics, 2021, 0(6): 156-162. DOI: 10.11832/j.issn.1000-4858.2021.06.023 |
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| Authors: | CHEN Zhi-gao HU Shi-cheng LI Xin-qi |
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| Affiliation: | 1. College of Mechanical and Electrical Engineering, Central South University, Changsha, Hunan410083; 2. State Key Laboratory of High Performance Complex Manufacturing, Changsha, Hunan410083; 3. Shanhe Intelligent Technology Center, Changsha, Hunan410100 |
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| Abstract: | In order to solve the problem of boom vibration and jitter, This paper designs a closed-loop hydraulic control system based on Fuzzy PID controller. Taking the velocity error and its change rate of piston rod of hydraulic cylinder as input variables, the velocity of piston rod is dynamically adjusted by means of fuzzing, fuzzy reasoning and solving fuzziness, so that it can reach a stable state. In this paper, the boom luffing hydraulic system of high-altitude electrified robot is taken as the research object. The transfer function of the system is obtained by establishing the mathematical model of hydraulic balance circuit. The simulation model of fuzzy PID and classic PID control scheme is built in MATLAB/Simulink environment, and the test platform is built for further verification. The simulation results show that compared with the classical PID control, the response lag time of fuzzy PID control is reduced from 0.55 s to 0.2 s, which is 63.6% shorter; the maximum overshot is reduced from 0.09 m to 0.01 m, which is 88.9% lower; the stability time is reduced from 2.4 s to 0.4 s, which is 83.3% lower.In addition, the experimental results show thatthe lag time for the system response under the fuzzy PID control is reduced by 0.2 s, the overshot is reduced by 0.032 m, and the stability time is reduced by 1.7 s, which is consistent with the simulation results. Experimental data show that the fuzzy PID controller can effectively solve the vibration and jitter problems of the boom and improve the stability of the boom motion control. |
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| Keywords: | aerial charged robot luffing hydraulic system stability MATLAB simulation analysis fuzzy PID controller |
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