【作者】 赵瑜；

【导师】 高殿荣；

【作者基本信息】 燕山大学 ， 机械电子工程， 2010， 硕士

【摘要】 众所周知,电液伺服同步系统具有非线性、参数变化、干扰和耦合等因素使得在建立电液伺服系统数学模型的时候很难得到准确的模型,这些因素为控制器的设计带来了难度。本文采用具有较强鲁棒性特点的模糊滑模变结构控制和神经元PID控制,使得其在控制像电液伺服同步系统这类具有非线性、参数变化、外干扰等特点的被控对象时,可以得到良好的效果。并利用MATLAB软件中的Simulink工具箱对同步系统进行数学建模和对比仿真,为同步控制器的设计与分析提供理论依据。论文的主要研究内容为:首先,介绍了液压同步系统目前的发展状况。通过对变位机的受力分析求出同步系统数学耦合关系,建立了同步控制系统耦合关系的数学模型,并利用MATLAB软件中Simulink工具箱的S函数功能分别编写了模糊滑模变结构和神经元PID控制算法的程序。为变位机同步系统运动性能的分析建立了数学模型。其次,对变位机同步系统的基本性能进行仿真分析,使得对系统有了一个基本的了解。分析了影响同步误差的一些基本因素,为控制算法加入后对系统的影响提供比较分析的依据。最后,分别介绍了模糊滑模变结构控制与神经元PID控制策略的确定方法,分别利用其对变位机双马达液压同步控制系统进行位置同步控制与力同步控制,利用MATLAB软件中Simulink的仿真结果进行对比分析。分析那种控制算法更适合本系统和那种反馈形式更合理。更多还原

【Abstract】 We well known that electro-hydraulic servo system with synchronized nonlinear, parameter variations, interference, and coupling factors make the establishment of mathematical model of electro-hydraulic servo system, the time is difficult to obtain accurate models, these factors caused the controller design difficult. In this paper, has a strong characteristic of robustness of fuzzy sliding mode control and Neural PID control, making it in the control system, such as the electro-hydraulic servo synchronized with a nonlinearity, parameter variation, external disturbance and other characteristics of the controlled object , you can get good results.Using MATLAB software toolbox in Simulink synchronous system mathematical modeling and simulation comparison for the synchronous controller design and analysis theory.The main research content of papers such as:(1)The hydraulic synchronization system describes the current state of development. Postioner by mechanical analysis derived mathematical coupling between synchronous system, establishment of a synchronous control system coupling between the mathematical model and the use of MATLAB software toolbox Simulink were prepared by S-function features of fuzzy sliding mode variable structure and Neural PID control algorithm process. For postioner synchronization system performance analysis exercise to establish a mathematical model.(2)Synchronous system of postioner simulation and analysis of basic properties, making the system have a basic understanding. Analysis of synchronization error affecting some of the basic factors for the control algorithms on the system after the entry of the impact of providing a basis for comparative analysis. (3)Introduced the fuzzy sliding mode control and Neural PID control strategy to determine methods of use, respectively, its dual-motor hydraulic positioner control system of synchronous position synchronization control and synchronous control force, using MATLAB software Simulink simulation results comparative analysis. Analysis of the kind of control algorithm is more suited to the system and the feedback form that is more reasonable.更多还原