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考虑到电液伺服系统的非线性和参数的时变特性,为了提高控制精度、改善系统的静动态特性,提出了模糊增益调度控制方法,根据系统的输出误差及其一阶微分变化,通过模糊推理在线实时调节PID参数,使系统控制参数达到全局优化,解决了一般PID参数只是对于某一工作点局部优化的问题。试验表明,与单纯PID控制器相比,模糊增益调度缩短了动态响应时间、降低了超调、减小了负载扰动。由此,该方法对非线性系统和难精确建模系统大范围控制十分有效。
Considering the nonlinearity of the electro-hydraulic servo system and the time-varying characteristics of the parameters, in order to improve the control precision and improve the static and dynamic characteristics of the system, a fuzzy gain scheduling control method is proposed. According to the output error of the system and its first-order differential change, Inference Online adjustment of PID parameters in real time, the system control parameters to achieve global optimization, to solve the general PID parameters for a certain part of the local optimization problems. Experiments show that, compared with pure PID controller, fuzzy gain scheduling can shorten the dynamic response time, reduce the overshoot and reduce the load disturbance. Therefore, this method is very effective for a wide range of nonlinear systems and difficult to accurately model the system.