Affiliation:
1. College of Mechanical and Power Engineering, Harbin University of Science and Technology, Xuefu Road, Harbin,
Heilongjiang Province 15080, P.R. China
Abstract
Background:
The single position control or force control of the electro-hydraulic servo
system has long been unable to meet the actual needs of production and life. To achieve a good control
effect and solve various problems in real life, people no longer only consider a single position
control or force control.
Objective:
The proposed method provides technical support for multi-objective collaborative control
of the electro-hydraulic servo system, completes the requirements of multitasking operation, improves
the positioning accuracy and response velocity of the electro-hydraulic servo system, and
realizes the synergy between the position and force.
Methods:
A control method of the outer loop control of force as feedforward compensation is
adopted to realize the coordinated control of force and position based on position control. The position
control part adopts the PID control algorithm to ensure real-time response accuracy and positioning
accuracy. The outer force loop uses an adaptive fuzzy neural network control algorithm to
reduce vibration and shock caused by system instability and nonlinear factors during the force control
process.
Results:
The control effect of the designed position/force collaborative controller is verified by simulation
and experiment. It can effectively reduce the vibration and impact caused by the contact
force during the working process of the system, at the same time greatly improving the accuracy of
position control and improving the stability of the system.
Conclusion::
The designed force/position collaborative control system has a good overall control
effect.
Funder
Natural Science Foundation of Heilongjiang Province of China
National Natural Science Foundation of China
Publisher
Bentham Science Publishers Ltd.
Subject
Electrical and Electronic Engineering,Electronic, Optical and Magnetic Materials
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