To address the asymmetry problem caused by the asymmetry of the asymmetric cylinder when electronic-hydraulic servovalve-controlled system is working at symmetric motion state, a double fuzzy control method with compensating factor is proposed. Considering the electronic-hydraulic servovalve-controlled system with asymmetric cylinder, fuzzy controller with compensating factor is used to solve the asymmetry problem caused by the asymmetry of the asymmetric cylinder. Since the load force will vary in large range, the fuzzy PID controller is used to adapt the mutative load. The inputs of fuzzy PID controller and fuzzy controller with compensating factor are error and the differential of error which generated by tracking differentiator. The fuzzy PID controller output the coefficients of PID controller and the fuzzy controller with compensating factor output the compensating factor. An effective method to solve the asymmetry problem of the asymmetric cylinder is generated by combining compensating factor and the fuzzy PID controller. Simulations and experiments show that the proposed method has the ability to solve the asymmetry problem caused by the asymmetry of the asymmetric cylinder in electronic-hydraulic servovalve-controlled system, and has perfect control performance.
PENG Hui
,
WANG Junzheng
,
SHEN Wei
,
LI Duoyang
. Double Fuzzy Control with Compensating Factor for Electronic-hydraulic Servovalve-controlled System[J]. Journal of Mechanical Engineering, 2017
, 53(24)
: 184
-192
.
DOI: 10.3901/JME.2017.24.184
[1] 郭洪波, 李洪人. 液压驱动6自由度运动模拟器动力机构控制策略研究[J]. 机械工程学报, 2005, 41(2):199-204. GUO Hongbo, LI Hongren. Study on control strategy for actuator of hydraulically driven 6-dof motion simulator[J]. Chinese Journal of Mechanical Engineering, 2005, 41(2):199-204.
[2] VOSSOUGHI G R, DONATH M. Dynamic feedback linearization for electrohydraulically actuated control systems[J]. Dynamic System Measurement Control Transactions of ASME, 1995, 117(4):468-477.
[3] 白寒, 王庆九, 徐振. 阀控非对称缸系统多级滑模鲁棒自适应控制[J]. 农业机械学报, 2009, 40(10):193-198. BAI Han, WANG Qingjiu, XU Zhen. Multiple sliding mode robust adaptive control for valve controlled asymmetric cylinder system[J]. Transactions of the Chinese Society for Agricultural Machinery, 2009, 40(10):193-198.
[4] 张晓宁, 王岩, 付永领. 非对称液压缸对称性控制[J]. 北京航空航天大学学报, 2007, 33(11):1334-1339. ZHANG Xiaoning, WANG Yan, FU Yongling. Symmetric control of asymmetric cylinder[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(11):1334-1339.
[5] DENIS G, KRISHNASWAMY S. Application of nonlinear adaptive control techniques to an electrohydraulic velocity servomechanism[J]. IEEE Transactions on Control Systems Technology, 2004, 12(2):303-314.
[6] YAO Bin, BU Fanping, CHIU G T C. Adaptive robust motion control of single-rod hydraulic actuators:Theory and experiments[J]. IEEE Transactions on Mechatronics, 2000, 5(1):79-91.
[7] 汪首坤, 彭建敏. 带遗忘因子的预测迭代学习控制在阀控非对称缸系统中的应用研究[J]. 机械工程学报, 2014, 50(10):191-198. WANG Shoukun, PENG Jianmin. Forecast iterative learning control with forgetting factor and its application in valve-controlled asymmetric cylinder[J]. Journal of Mechanical Engineering, 2014, 50(10):191-198.
[8] 李洪人, 王栋梁, 李春萍. 非对称缸电液伺服系统的静态特性分析[J]. 机械工程学报, 2003, 39(2):18-22. LI Hongren, WANG Dongliang, LI Chunping. Static property analysis of electrohydraulic single rod cylinder servo systems[J]. Chinese Journal of Mechanical Engineering, 2003, 39(2):18-22.
[9] 张景春, 王守仁. 阀控非对称缸电液伺服系统的三维模糊控制[J]. 机床与液压, 2002, 1(2):195-197. ZHANG Jingchun, WANG Shouren. 3-Dimensional fuzzy control of valve-controlled asymmetric cylinder electrohydraulic servo system[J]. Machine Tool & Hydraulics, 2002, 1(2):195-197.
[10] SONG Fei, LOU Jingjun, PENG Likun. Structure optimization and characteristic research of the asymmetric cylinder controlled by the digital valve system[C]//International Conference on Intelligent Human-Machine Systems and Cybernetics. Hangzhou, Zhejiang, China:Institute of Electrical and Electronics Engineers, 2015, 294-297.
[11] MICHELE F, EMANUELE G, CLAUDIO S, et al. Control of a hydraulically-actuated quadruped robot leg[C]//IEEE International Conference on Robotics and Automation. Anchorage, Alaska:IEEE Robotics and Automation Society, 2010:4182-4188.
[12] KHAJEPOUR A. Nonlinear control strategy development for asymmetric actuators[J]. IEEE Transactions on Automatic Control, 2000, 45(3):556-560.
[13] 陈永新, 柯尊忠, 陈剑. 四通阀控单出杆液压缸动态特性的研究[J]. 机床与液压, 2007, 35(7):68-74. CHEN Yongxin, KE Zunzhong, CHEN Jian. Study on dynam ic character of four-connection valve-controlled one-pole hydraulic cylinder[J]. Machine Tool & Hydraulics, 2007, 35(7):68-74.
[14] 柏艳红, 权龙, 郝小星. 基于流量近似的阀控液压缸动力机构建模[J]. 机械工程学报, 2014, 50(24):179-185. BAI Yanhong, QUAN Long, HAO Xiaoxing. Modeling of hydraulic valve-controlled cylinder power mechanism based on flow approximation[J]. Journal of Mechanical Engineering, 2014, 50(24):179-185.
[15] MAMDANI E H. Application of fuzzy algorithms for control of simple dynamic plant[J]. Proceedings of the Institution of Electrical Englineers Control & Scinece, 1994, 121(12):1585-1588.
