水压自伺服摆动缸分数阶piλdμ控制器设计与仿真-design and simulation of fractional pi λ d μ controller for hydraulic self-servo swing cylinder.docxVIP

AbstractWaterpressureservoswingcylinderservingasthedrivingdeviceofwaterpressuresnake-likefirerescuerobotrequirerapidresponsecharacteristicsandbetterfollowperformanceinreliefsituations.Thenestablishmentofthelinearmathematicalmodelforwaterpressureservoswingcylinderandanalysisforthesystemcharacteristicsintimedomainandfrequencydomainhaveagoodpracticalsense.Aimingattheproblemsofslowresponseandpoorfollowperformanceinwaterpressureservoswingcylinder,twokindsoffractional-orderPIDrobustcontrollerisproposedinthispaper,andfastresponseandaccuracycharacteristicsareachieved,meanwhilethegoodsimulationperformanceisobtainedinthecaseofgainparametervariationsandexternaltorqueinterference.Themaincontentsareasfollows:Firstly,thebasicprincipleofOustaloupfilteralgorithmisintroduced.BasedontheoptimalOustaloupdigitalimplementationalgorithm,thebestadjustmentfactorsofcommonfractionaloperatorsareacquiredthroughMatlabprogrammingandsimulationmethods.Secondly,thegeneticoptimizationalgorithmisproposedforaclassofsystemtoadjustparametersoffractional-orderPIλDμcontroller,andtakingthewaterpressureservoswingcylinderasanexample,throughsimulationanalysistoverifytheeffectivenessofthegeneticalgorithm.Then,basedontheopen-looptransferfunctionofthewaterpressureservoswingcylindercontrolsystem,systemphaseinagivenfrequencydomainisobtained,andcomparingitwiththeidealtransferfunctionphase,thesumfunctionoferroractingastheobjectivefunction,andtakingtheamplitudeofactualsystemincutofffrequencyasaconstraint,theFminconfunctionisusedtogetthecontrollerparameters.Finally,basedonthemathematicalmodelofwaterpressureservoswingcylinderandthegivenfrequencydomainindex,thephasemarginmethodisusedtodesignfractional-orderPIλDμrobustcontroller,andtakingadvantageofMatlaboptimaltoolboxfunctionFmincontosolvenonlinearequations.Keyword:waterpressureservoswingcylinder;fractionalPIλDμcontroller;digitalimplementation;idealtransferfunctionmethod;phasemarginmethodII目录摘要..............................................................................