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Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator

机译：非线性液压执行器的自适应PID和模型参考自适应控制开关控制器

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摘要

Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC) adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.
机译：非线性系统在多个工作点被建模为分段线性系统，其中工作点被建模为组成线性化系统之间的开关。为了改善液压执行器控制系统的响应时间和跟踪性能，提出了一种自适应分段线性开关控制器，该控制器基本上是分段线性的。由PID和模型参考自适应控制（MRAC）组成的控制器自适应地选择这两个组件的比例，使设计的系统在瞬态阶段具有更快的响应时间，并同时具有更好的跟踪性能。然后，通过液压执行器控制系统对其稳定性和跟踪性能进行分析和评估，通过电动液压系统控制液压执行器，并建立了具有分段线性特征的模型。然后比较PID和MRAC的控制器结果，并将本文设计的开关控制器应用于液压执行器。显然，自适应开关控制器在响应时间和跟踪性能上都有更好的效果。

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  • 来源
    《Mathematical Problems in Engineering》 |2017年第9期|6970146.1-6970146.15|共15页
  • 作者

    Zuo Xin; Liu Jian-wei; Wang Xin; Liang Hua-qing;

  • 作者单位

    China Univ Petr, Dept Automat, Beijing 102200, Peoples R China;

    China Univ Petr, Dept Automat, Beijing 102200, Peoples R China;

    China Univ Petr, Dept Automat, Beijing 102200, Peoples R China;

    China Univ Petr, Dept Automat, Beijing 102200, Peoples R China;

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