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针对漏油、油液污染、死区、滞环等因素导致的液压伺服位置系统的参数时变、非线性等特性,探讨了基于仿人智能的多模态控制策略。分析了液压伺服位置控制存在的问题,讨论了仿人智能控制的本质特征,动态控制特征模型,总结了控制的多模态特性及其相应的控制算法。多模态控制与PID控制的仿真实验对比研究验证了多模态控制具有良好的控制品质。仿真结果表明:与PID控制相比较,采用多模态控制时电液位置伺服系统可获得更好的跟踪性能、动静态特性以及更强的鲁棒性。
Aiming at the characteristics of time varying and non-linearity of hydraulic servo position system caused by oil leakage, oil pollution, dead zone and hysteresis, multi-modal control strategy based on artificial intelligence is discussed. The existing problems of hydraulic servo position control are analyzed. The essential characteristics of humanoid intelligent control, dynamic control feature model are discussed. The multimodal characteristics of control and corresponding control algorithms are summarized. Multi-modal control and PID control simulation experiments verify the multi-mode control has good control quality. The simulation results show that compared with PID control, the electro-hydraulic position servo system can achieve better tracking performance, dynamic and static characteristics and stronger robustness when using multi-mode control.