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针对电液伺服马达控制系统,提出了一种PID内模控制器设计方法。内模控制作为一种先进控制策略,其设计思路是将对象模型与实际对象相并联,控制器逼近模型的动态逆。考虑到内模控制对系统模型精度要求不高的特点,本文降阶大大简化了电液伺服系统的模型。基于此模型所设计的控制器,以传统的PID为基础且使其只有一个可调参数,且该参数直接与系统的动态特性和鲁棒性相关,整定方便,避免了控制器整定的随机性与复杂性。SIMULINK仿真研究表明这种PID内模控制完全可以实现系统的控制要求,能够满足高精度电液伺服马达系统系统的性能要求。
Aiming at the control system of electro-hydraulic servo motor, a design method of PID internal model controller is proposed. As a kind of advanced control strategy, the internal model control is designed in such a way that the object model is connected in parallel with the actual object and the controller approximates the dynamic inverse of the model. Taking into account the internal model control of the system model is less demanding accuracy, this paper greatly reduced the order to simplify the electro-hydraulic servo system model. The controller based on this model is based on the traditional PID and has only one adjustable parameter. The parameter is directly related to the dynamic characteristics and robustness of the system, and the setting is convenient. The randomness of the controller setting is avoided And complexity. SIMULINK simulation study shows that this kind of PID internal model control can completely realize the control requirements of the system and meet the performance requirements of high precision electrohydraulic servo motor system system.