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.pdfVIP

学兔兔 第45卷第3期 机 械 工 程 学 报 VO1．45 NO．3 2009年 3月 JOURNAL OF MECHANICAL ENGINEERING Mar． 2OO9 DoI：1O．3901／JME．2009．03．144 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木 徐一鸣 孙 威 杨华勇 傅 新 (浙江大学流体传动及控制国家重点实验室 杭州 310027) 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 fCerebellar 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。 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 dSPACE 中图分类号：TH137 Control System 0f Electr0hydraulic Force Servo System with Time Varying Flexible Load by 3D Nonlinear Proportional Differential＆ Cerebellar Model Articulation Compound Controller XU Yiming SUN Wei YANG Huayong FU Xin (State Key Laboratory ofFluid Power Transmission and Control，Zhejiang University,Hangzhou 3 10027) Abstract：The mathematical model of electrohy draulic force servo system is analyzed firstly,then the 3D nonlinear proportional differential and cerebellar model articulation compound controller is designed for electrohydraulic force Selvo 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 articulation controller(CMAC)，the CMAC feed forward is adopted to reduce the tracking phase error．According to the simulation and test results of the electrohydraulic force servo