1、太原理工大学 硕士学位论文 电液伺服系统模糊PID控制仿真与试验研究 姓名：田凡 申请学位级别：硕士 专业：机械电子工程 指导教师：程珩;靳宝全 20100501 - I PID PID PID PID PID PID AMESim Matlab/Simulink PID PID PID PID - II PID PID PID PID PID dSPACE dSPACE PID PID ARMSim/Simulink dSPACE - III FUZZY PID CONTROL SIMULATION AND TEST STUDY ON ELECTRO-HYDRAULIC SERVO SYST
2、EM ABSTRACT With the development of science and technology, electro-hydraulic sevro control systems are widely used in industrial fields. It has been adopted in the control fields that demand high accuracy, quick response, easy adjustability and large power output. But electro-hydraulic sevro contro
3、l system is a nonlinear and uncertain system that has time-variation parameters and external disturbance. It is hard to establish the accuracy mathematic model. The traditional PID controller which has matured algorithm, excellent stability is designed on model and is poor of anti-diterbance and ada
4、ptivity. It can hardly control the nonlinear and time-variant systems. The fuzzy control algorithm which is spinging up at the end of 20th century is good at controlling the complex and unstatble systems like electro-hydraulic sevro control systems. The fuzzy control algorithm is an important branch
5、 of intelligent control algorithm. Its control rule is based on experts control experience. The fuzzy controller isnt designed on the accuracy mathematic model, and has flexible algorithm. It is suitable to controlling the nonlinear, - IV large time delayed and time-variated systems. But the control
6、 precision of the fuzzy control algorithm is not high. So, in this paper I chooce fuzzy PID control algorithm to control the system. It has the fuzzy control algorithms advantages of flexible algorithm and quick response, and also has the PID control algorithms merit of high precision. The fuzzy PID
7、 controller implemente intelligent control of system, and achieve excellent control effect. In this paper I determine the electro-hydraulic sevro control systems transfer function on the foundation of the electro-hydraulic servo system model and measured systems parameters. Then described the theory
8、 of fuzzy PID control algorithm, and designed the fuzzy PID controller of the electro-hydraulic servo system. Build the hydraulic model in the advanced hydraulic simulation software AMESim platform, and build the PID and fuzzy PID control model of the electro-hydraulic sevro control systems in contr
9、ol simulation software Matlab/Simulink platorm. By using co-simulation interfaces, realize the co-simulation of the electro-hydraulic sevro control systems. Studies are conducted to the non disturbance system and the disturbance system, and the results of co-simulation of Fuzzy PID and PID control s
10、ystem show: The fuzzy PID control system has advantages of quick response, faster response time, no time delay, strong anti-diterbance compared to PID control system while keeping the characteristics of PID controls non static difference and good stability. The result of the simulation indicates tha
11、t this the fuzzy PID control system has good control effect, can satisfid the systems need. - V Finally, based on off-line simulation I established the real time control system. The control parameter can be tuned on line as to adjust the peorfmmance of real-time system, improving the system performa
12、nce. The real-time simulation results show that: dSPACE test platform for electro-hydraulic servo control system verified rapidly, and the develop period of control system is also shorten. The system acquired satisfied effect. The result of real-time simulation is consistent of that of off-line simu
13、lation, verified that fuzzy PID controller has good control performance. KEY WORDS electro-hydraulic servo system fuzzy PID control, co-simulation, ARMSim/Simulink, dSPACE - 1 1.1 20 20 50 60 80 90 - 2 1.2 1.2.1 18 20 40-60 20 60-70 (20 70 ) 1 ” ” - 3 1. 2. 3. 4. 2 1.2.2 PID 1965 L.A.Lukasiewicz 197
14、3 L.A.Lukasiewicz 1974 1979 1979 1979 L.P.Holnblad Ostergard 1983 1989 1. 1991 - 4 1994 80% 2. 3. 1992 IEEE 1993 Fuzzy System IEEE 3 PID PID PID PID PID PID PID PID PID PID PID PID PID - 5 PID PID PID PID PID 1.3 1.3.1 4 1-1 + - r(t) y(t) e(t) 1-1 Fig.1-1 the Structure Block Diagram of control system
