摘要
针对气动加载系统压力跟踪控制中强非线性、强耦合性、模型不精确性等问题,提出一种无模型自适应控制(model-free adaptive controller,MFAC)器,该控制器结构简单、参数少、不需要被控系统的数学模型,是一种低成本的控制器。其中的伪偏导数估计算法仅需利用受控系统的输入输出数据来估计伪偏导数,使该算法具有更强的灵活性和一般性。然后在三种典型的输入信号下与经典PID控制进行仿真比较,并在气动变载荷摩擦磨损试验机试验平台上进行了试验验证,仿真和试验结果表明,无模型自适应控制器具有非常强的适应性和鲁棒性,而且在工程上易于实现。
In order to solve the problems in the pressure tracking control of a pneumatic loading system,such as strong nonlinear,strong coupling,and model inaccuracy,a model-free adaptive controller(MFAC)was put forward.The controller has simple structure,few parameters,does not need to build a mathematical model,and is a low cost controller.The pseudo partial derivative estimation algorithm only uses the input and output data of the controlled system to estimate the pseudo partial derivative,which makes the algorithm more flexible and general.Then,the simulation was compared with the classical PID control under three typical input signals,and experiments were carried out in the pneumatic variable load friction wear testing machine experiment platform.The simulation and test results prove that the model-free adaptive controller has very strong adaptability and robustness,and it is easy to be implemented in engineering.
作者
任丽娜
李小广
高琳琪
刘福才
REN Lina;LI Xiaoguang;GAO Linqi;LIU Fucai(Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China)
出处
《振动与冲击》
EI
CSCD
北大核心
2021年第4期99-104,194,共7页
Journal of Vibration and Shock
基金
载人航天领域预先研究项目(2016040301)。
