多模态控制在电液位置伺服系统中的仿真研究

摘要

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 characteristic of parameter time-varying,nonlinearity etc in electro-hy-draulic position servo-system caused by oil spil ,oil pol ution,inert zone and hysteresis,the pa-per explored the multi-modal control strategy based on human simulated intel igent control.In the paper,it analyzed the open question of electro-hydraulic position servo-system,discussed the essential feature of human simulated intel igent control,summarized up the characteristic of multi-modal control and its corresponding control algorithm.The comparative study of simulation exper-iment in multi-modal control and PID control verified the good control quality of multi-modal con-trol.The simulation results demonstrated that compared with PID control by means of multi-modal control it could obtain better tracking performance,static and dynamic characteristics as wel as stronger robustness than PID control.