摘要
研究了基于新型补偿结构和非线性PID控制器的被动式电液伺服加载复合控制方法。提出了将加载马达输出轴角位移作为输入信号的多余力矩前馈补偿方案,在有效抑制多余力矩的同时降低了系统阶次。研究了一种带调节因子的非线性PID控制器,克服了常规PID控制器难以解决的快速性与稳定性之间的矛盾。仿真与试验结果证明,该复合控制策略具有较高的载荷谱跟踪精度。
A hybrid control method for passive electro- hydraulic servo loading system was proposed based on new compensation structure and nonlinear PID controller. The new compensation scheme used loading motor output shaft angle displacement for the surplus torque feed--forward compensator, which can reduce the system order while effectively eliminated surplus torque. A nonlinear PID controller with regulatory factor was researched, which can overcome the contradiction of conventional PID controller in between rapidity and stability. The simulation and experimental results indicate that the hybrid controller has higher loading spectrum tracking accuracy.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第20期2411-2414,2418,共5页
China Mechanical Engineering
关键词
电液伺服加载
多余力矩
非线性PID
前馈补偿
复合控制
electro--hydraulic servo loading
surplus torque
nonlinear PID
feed--forward compensation
hybrid control
