摘要
为了提高重型液压平台的控制精度和控制速度,提出了基于论域自适应模糊-相邻交叉耦合的同步控制方法。以4液压缸驱动的重型液压平台为研究对象,建立了液压平台同步控制的动力学方程和液压缸的状态空间方程。介绍了相邻交叉耦合同步控制原理,针对模糊控制论域尺度固定导致的模糊规则闲置问题,设计了论域随跟踪误差、误差变化率自适应变化方法,提出了基于自适应论域模糊控制的相邻交叉耦合同步控制方法。设计了4缸驱动液压实验平台,在多负载工况下进行验证可知,自适应论域模糊控制的最大俯仰角均值、最大滚转角均值、最大同步误差均值及调节时间均值都小于传统模糊控制、模糊PID控制及滑模控制。实验结果验证了自适应论域模糊控制在重型液压平台控制中的可行性。
In order to improve the control accuracy and speed of heavy-duty hydraulic platform,a synchronous control method based on domain adaptive fuzzy adjacent cross coupling was proposed.Taking the heavy-duty hydraulic platform driven by 4 hydraulic cylinders as the research object,the dynamic equation of the hydraulic platform synchronous control and the state space equation of the hydraulic cylinder were established.The principle of adjacent cross coupling synchronous control was introduced.Aiming at the idle problem of fuzzy rules caused by the fixed scale of fuzzy control domain,an adaptive change method of domain with tracking error and error change rate was designed,and an adjacent cross coupling synchronous control method based on adaptive domain fuzzy control was proposed.A 4-cylinder driven hydraulic experimental platform was designed and verified under multi load conditions.It can be seen that the maximum pitch angle mean value,maximum roll angle mean value,maximum synchronization error mean value and adjustment time mean value of adaptive domain fuzzy control are smaller than those of traditional fuzzy control,fuzzy PID control and sliding mode control.The experimental results verify the feasibility of adaptive domain fuzzy control in the control of heavy-duty hydraulic platform.
作者
郑凯强
李薇
ZHENG Kaiqiang;LI Wei(Department of Mechanical and Electrical Engineering,Nanchong Vocational and Technical College,Nanchong 637131,China)
出处
《现代制造工程》
CSCD
北大核心
2023年第8期141-147,共7页
Modern Manufacturing Engineering
基金
南充市科技局项目(20YFZJ0027)。
关键词
重型液压平台
自适应论域
模糊控制
相邻交叉耦合
同步控制
heavy-duty hydraulic platform
adaptive domain
fuzzy control
adjacent cross coupling
synchronous control
作者简介
郑凯强,硕士,讲师,主要研究方向为机电系统智能控制。E-mail:danqianchuan@163.com。
