PID Control of Hydraulic Servo System that Combines Repetitive Compensation Control with CMAC
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摘要: 目前液压伺服系统广泛应用于航空航天等高精尖领域,要求输出快速无超调地跟踪输入指令,并且控制精度高。针对液压伺服系统的强非线性特性和重复运动的特点,结合重复控制补偿和CMAC的优点,将CMAC和重复控制补偿与PID控制相结合构建一种复合PID控制器,用于液压伺服系统的位置控制。仿真结果表明:该复合PID控制方法与单纯的CMAC与PID并行的控制器相比,提高了系统对周期信号的跟踪精度,提高了系统的响应速度,增强了系统的抗干扰能力。Abstract: Widely used in aerospace and other high-tech areas,hydraulic servo systems require that their output should quickly track the input instructions without overshoot and that their control accuracy be good.To address the strong nonlinearity and repetitive motion of a hydraulic servo system,this paper takes advantage of repetitive control compensation and CMAC(Cerebellar Model Articulation Controller) to construct a compound PID controller by combining repetitive control compensation and CMAC with PID,which is used to carry out the position control of the hydraulic servo system.The simulation results show that compared with both the CMAC and the CMAC and PID parallel controller,our compound PID controller can enhance the response speed of the hydraulic servo system and the accuracy for tracking its periodical signals,thus enhancing its interference suppression capability.
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Key words:
- hydraulic servo system /
- CMAC /
- repetitive control compensation /
- PID control /
- simulation
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