|本期目录/Table of Contents|

[1]高炳微,邵俊鹏,韩桂华. 电液伺服系统位置和力模糊切换控制方法[J].电机与控制学报,2014,18(05):99-104.
 GAO Bing-wei,SHAO Jun-peng,HAN Gui-hua. Fuzzy switching control between position and forcefor electro-hydraulic servo system[J].,2014,18(05):99-104.
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 电液伺服系统位置和力模糊切换控制方法(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
18
期数:
2014年05
页码:
99-104
栏目:
出版日期:
2014-05-15

文章信息/Info

Title:
 Fuzzy switching control between position and force
for electro-hydraulic servo system
作者:
 高炳微 邵俊鹏 韩桂华
 哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080
Author(s):
 GAO Bing-wei SHAO Jun-peng HAN Gui-hua
 College of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China
关键词:
 电液伺服系统 位置控制 力控制 模糊控制 切换控制
Keywords:
 electro-hydraulic servo system position control force control fuzzy control switching control
分类号:
-
DOI:
-
文献标志码:
A
摘要:
 由于电液伺服系统位置控制和力控制在控制方法和控制参数上都有所不同,在进行力控制
和位置控制切换时将产生跳变。为了解决这一问题,提出了基于修正因子的模糊切换控制方法。
对电液伺服力—位置综合系统进行了理论分析,分别建立了位置控制系统和力控制系统的数学模
型。在液压缸接触到受力物体时采用模糊控制方法进行力控制,在脱离受力物体时则采用PID 进
行位置控制以保持液压缸位置不变。采用基于修正因子的模糊切换控制方法来削弱切换时产生的
跳变。最后在电液伺服系统综合实验台上进行实验。实验结果表明所提出的模糊切换控制方法有
效地削弱了切换时产生的抖动和跳变,保证了两种目标控制之间的平滑过渡。
Abstract:
 Due to the differences of control methods and control parameters between position control and
force control,when the position control and the force control switch,there are jitters. To solve this problem,
a fuzzy switching control method based on correction factor was proposed. The electro-hydraulic
force-position servo system was analyzed theoretically,and the mathematical models of the force control
and the position control are established. When the hydraulic cylinder contacted with the object,fuzzy
control method was adopted to execute the force control,when the hydraulic cylinder got away from the
object,PID was used for position control to maintain the unchanged position of the hydraulic cylinder. A
fuzzy switching control method based on correction factor was put forward to reduce the jitters during
switching. Finally the experiments were carried out under the electro-hydraulic servo integration test bed.
The experimental results show that the proposed fuzzy switching control method effectively weakens the jitters
and transitions during switching,and ensures a smooth transition between the two control strategies.

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备注/Memo

备注/Memo:
更新日期/Last Update: 2014-11-26