文章摘要
叶璨,郭津津,曹季芳,杨秀萍.基于模糊神经PID的重载机械臂变幅系统仿真研究[J].机床与液压,2021,49(2):106-109.
YE Can,GUO Jinjin,CAO Jifang,YANG Xiuping.Simulation of Heavy-load Mechanical Arm Luffing System Based on Fuzzy Neural PID [J].Machine Tool & Hydraulics,2021,49(2):106-109
基于模糊神经PID的重载机械臂变幅系统仿真研究
Simulation of Heavy-load Mechanical Arm Luffing System Based on Fuzzy Neural PID
  
DOI:10.3969/j.issn.1001-3881.2021.02.23
中文关键词: 液压系统  同步控制  模糊神经PID控制
英文关键词: Hydraulic pressure system  Synchronous control  Fuzzy neural PID control
基金项目:国家重点研发项目(2017YFB1302100)
作者单位E-mail
叶璨 天津理工大学天津市先进机电系统设计与智能控制重点实验室天津理工大学机电工程国家级实验教学示范中心 yccy1994525@163.com 
郭津津 天津理工大学天津市先进机电系统设计与智能控制重点实验室天津理工大学机电工程国家级实验教学示范中心  
曹季芳 南京晨光集团有限责任公司  
杨秀萍 天津理工大学天津市先进机电系统设计与智能控制重点实验室天津理工大学机电工程国家级实验教学示范中心  
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中文摘要:
      针对重载机械臂变幅机构控制系统的功能要求,设计一种可以实现变幅机构位移同步控制的液压系统。结合重载机械臂位移同步控制方法与策略,提出采用能满足系统稳定性和鲁棒性要求的模糊神经PID控制策略对其进行位移同步控制。运用AMESim和Simulink 对变幅控制液压系统进行建模仿真,对比分析了模糊神经PID与常规PID对液压缸运动控制的动态效果,得到了该液压系统中液压缸活塞杆位移曲线。仿真结果表明: 模糊神经PID控制器具有较强的抗干扰能力和较好的鲁棒性,验证了所设计的变幅机构位移同步控制液压系统具有良好的工作性能
英文摘要:
      According to the functional requirements of the amplitude changing mechanism control system of heavy duty manipulator,a hydraulic system was designed,which could be used to realize the synchronous displacement control of the amplitude changing mechanism.Combined with the displacement synchronization control method and strategy of heavy duty manipulator,a fuzzy neural PID control strategy was proposed,which could meet the requirements of system stability and robustness.AMESim and Simulink were used to model and simulate the variable amplitude control hydraulic system.The dynamic effects of fuzzy neural PID and conventional PID on the motion control of hydraulic cylinder were compared and analyzed,and the displacement curve of the hydraulic cylinder piston rod in the hydraulic system was obtained.The simulation results show that:the fuzzy neural PID controller has strong anti interference ability and good robustness,which verifies that the synchronous displacement control hydraulic system with variable amplitude mechanism has good working performance
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