Expert PID control method applied to rotary electromechanical actuator servo system

Abstract

Provided is an expert PID control method applied to a rotary electromechanical actuator servo system. Position loop PID control comprises the following steps: (1) dividing the step response of a rotary electromechanical actuator servo system into an action response period, an overshoot rise period, an overshoot decline period and an action decline period, and establishing an expert rule base, wherein the expert rule base represents the proportional, integral and differential coefficient regulation rate relationship in each time domain stage, and the regulation rate is related to position error and error change rate; (2) forming control error and control error change rate; (3) judging which the current time domain stage of step response of the servo system is according to the control error and control error change rate, querying the expert rule base, and forming proportional coefficient regulation rate, integral coefficient regulation rate and differential coefficient regulation rate; and (4) correcting the proportional, integral and differential coefficients in real time based on the result, producing position loop output, making the position loop output act on a rotary electromechanical actuator via a speed loop and a current loop, and producing mechanical motion output.

Description

technical field [0001] The invention relates to an expert PID control method applied to a rotary electromechanical actuator servo system, belonging to the field of servo control. Background technique [0002] The rotary electromechanical actuator is matched with the electromechanical servo system. The rotary electromechanical servo actuator is a typical high-order multi-variable strong coupling nonlinear system. The servo system is required to have high dynamic response, small overshoot, stable system, and anti-interference. Strong features. [0003] When the classic PID control rate is applied to high-order multivariable strongly coupled nonlinear systems such as rotary electromechanical actuators, it is difficult to reconcile the contradictions between rapidity and overshoot, stability and anti-interference: Applying classic PID When the control law is used, when the dynamic response is high, the overshoot of the system will increase, and when the stability of the system ...

AI Technical Summary

Problems solved by technology

[0003] When the classic PID control rate is applied to high-order multivariable strongly coupled nonlinear systems such as rotary electromechanical actuators, it is difficult to reconcile the contradictions between rapidity and overshoot, stability and anti-interference: Applying classic PID When the control law is used, when the dynamic response is high, the overshoot of the system will increase, and when the stability of the system is enhanced, the anti-interference will be reduced

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