In order to improve the displacement tracking and force tracking performance of electrohydraulic servo system under different working conditions and reduce the force tracking error during force position switching,a forceposition switching control strategy based on sliding mode fuzzy impedance was proposed.Sliding mode control was used in free space to improve the position tracking performance of the system.Positionbased fuzzy impedance control was used in the contact space to improve the contact force stability of the hydraulic cylinder from free space to contact space.Based on the establishment of AMESim model,the joint simulation with MATLAB/Simulink was carried out.The results show that the control algorithm has good force tracking ability for electrohydraulic servo system,by which the force tracking error is effectively reduced during force position switching.
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周杰,罗铭,吴孝红.基于AMESim-MATLAB的滑模模糊阻抗力位切换控制[J].机床与液压,2020,48(20):31-35. ZHOU Jie, LUO Ming, WU Xiaohong. Sliding Mode Fuzzy Impedance ForcePosition Switching Control Based on AMESim-MATLAB[J]. Machine Tool & Hydraulics,2020,48(20):31-35