基于PD校正电液速度伺服系统的自适应方法

摘要

本文在分析电液速度伺服控制系统特性的基础上,设计一种基于PD校正环节,不需要输出量导数的电液速度伺服系统Narendra 自适应控制方法.分析了电液速度伺服控制系统使用常规的控制方法的动态特性和控制精度；探讨了电液速度伺服控制系统在加入PD校正环节环节后,使系统与参考模型形式一致,达到系统模型是一个严格正实的传递函数,构成了系统在不使用输出量导数的条件下构成Narendra自适应控制的形式.模拟仿真结果表明此方法有效,可以对电液速度伺服系统的超调量和稳态误差有着显著的改善,效果明显,并在较大的范围内保证系统稳定.%In this paper an adaptive way of electro-hydraulic velocity servo system is worked out that is Narendra adaptation and it does not need output derivation on PD correction. Dynamic feature and control precision of the system is analyzed with the general PD correction. To put a PD correction into the system makes the new system same form with the model reference system, it is strict positive real. It assures a Narendra adaptation in the system and does not need output derivation. The simulation result gives that the new system can work out a better dynamic feature and a less control steady error and is stabilization in a larger range.