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提出了一种基于电磁直线执行器的电子凸轮,通过对给定轨迹的跟踪来实现所需要的直线运动规律,以取代传统的机械凸轮机构。采用迭代学习控制算法控制电子凸轮实现对目标轨迹的跟踪,并进而应用迭代加模糊滑模控制的算法提高电子凸轮的收敛速度与鲁棒性。模糊滑模迭代控制是将误差函数输入滑模控制器中,然后以滑模函数作为模糊控制器的输入,最后通过模糊控制器的输出来控制迭代算法中的增量。通过仿真以及试验验证表明,基于电磁直线执行器的电子凸轮能够有效取代传统的机械凸轮机构,模糊滑模迭代控制算法能够满足电子凸轮对轨迹跟踪精度、响应速度、收敛速度与鲁棒性的要求。
An electronic cam based on electromagnetic linear actuator was proposed to realize the required linear motion by tracking a given trajectory to replace the traditional mechanical cam mechanism. Iterative learning control algorithm is used to control the electronic cam to track the target trajectory, and then the iterative and fuzzy sliding mode control algorithm is used to improve the convergence speed and robustness of the electronic cam. The fuzzy sliding mode Iterative control is to input the error function into the sliding mode controller, and then use the sliding mode function as the input of the fuzzy controller. Finally, the output of the fuzzy controller is used to control the increment in the iterative algorithm. Simulation and experimental verification show that the electronic cam based on electromagnetic linear actuator can effectively replace the traditional mechanical cam mechanism. The fuzzy sliding mode iterative control algorithm can meet the requirements of electronic cam on trajectory tracking accuracy, response speed, convergence speed and robustness .