测试科学与仪器2023，Vol.14Issue(2)：209-217,9.DOI:10.3969/j.issn.1674-8042.2023.02.010
变转速泵控液压缸系统的多模型自适应PID控制
Multi-model adaptive PID control of variable speed pump-controlled hydraulic cylinder system
摘要
Abstract
For variable speed pump-controlled hydraulic cylinder system,the nonlinear change of hydraulic system parameters is brought in by large-scale change of speed or load.It causes the control system,which is designed by the linear model,to have the problems such as difficult correction of control parameters,unstable precision or even control instability.In this paper,a multi-model adaptive PID(MMA-PID)control method is proposed by analyzing the state space of a typical variable speed pump-controlled hydraulic cylinder system.According to the nonlinear change of the bulk elastic modulus of oil caused by the change of the system pressure,the system behavior is described by using multiple linear sub-models.A reasonable controller is designed for each sub-model.During the control process,the output weight coefficient of each sub-model is estimated separately through the Kalman filter,and the weighted fusion of all the sub-models control output is used as the final control input of the system.The simulation and experimental results demonstrate that when the working conditions are vary widely,the MMA-PID can adapt to the nonlinear change of system parameters better than the traditional PID,and it owns better control effect and dynamic performance.关键词
变转速泵控液压缸/状态空间/非线性参量/卡尔曼滤波器/多模型自适应PIDKey words
variable speed pump-controlled hydraulic cylinder/state space/nonlinear parameter/Kalman filter/multi-model adaptive PID(MMA-PID)引用本文复制引用
仵浩宇,谷立臣,耿宝龙,刘佳敏,赵宝建,杨莎..变转速泵控液压缸系统的多模型自适应PID控制[J].测试科学与仪器,2023,14(2):209-217,9.基金项目
National Natural Science Foundation of China(No.51675399) （No.51675399）
