https://scholars.lib.ntu.edu.tw/handle/123456789/71195
標題: | 整合力控制與節能控制應用於閥控液壓缸系統之研究 Study on the integrated control of force and energy-saving control for hydraulic valve controlled cylinder systems |
作者: | 楊飛龍 Yang, Fei-Lung |
關鍵字: | 控制;力控制;閥控液壓缸系統;定供油壓力控制;節能控制;解耦合自組織模糊滑動模式控制;解耦合控制;自組織修正器;負載感測控制;H control;force control;decoupling self-organizing fuzzy sliding-mode control;energy-saving control;integrated control;hydraulic valve-controlled cylinder systems | 公開日期: | 2004 | 摘要: | 本文將針對整合閥控液壓缸系統力控制與節能控制,以電液變排量泵系統應用於閥控液壓缸系統之力控制,同時完成力控制及節能控制的目的。 本研究將分別以解耦合自組織模糊滑動模式控制及 控制,應用於整合力控制與節能控制。首先,以模糊滑動模式控制(FSMC)設計力控制器與節能控制器;再加入自組織修正器(Self-organizing modifier) ,對模糊規則庫作線上即時修正;最後,為了補償耦合效應的影響,分別對力控制系統及節能控制系統,以自組織模糊滑動模式控制設計補償器,達成解耦合的控制目標。再則以 控制設計力控制器與節能控制器,將整合系統間的交互作用視為外擾,藉由 控制本身具備的抗干擾強健性來解決耦合的影響。 本文將設計兩種不同整合控制系統,包含:整合力控制與負載感測控制系統及整合力控制與定供油壓力控制系統來與無節能控制之閥控液壓系統力控制比較。在PC-Based控制系統架構下,分別以兩種控制器應用於整合控制系統;以實驗驗證控制器與整合控制系統的性能及穩定,同時實現高伺服響應及高能源效率之目標。 實驗結果顯示,本研究成它a以解耦合自組織模糊滑動模式控制及 控制應用於整合力控制與節能控制,驗證了整合控制系統具有優越之性能;在力控制響應上的性能相當不錯,同時更可節省整合控制系統10%以上之消耗能量。 The objective of this research is to implement a novel parallel control of the force and the energy-saving in the hydraulic valve-controlled cylinder systems(HVCCS) for simultaneously achieving accurate force control response and high energy efficiency. In order to verify the feasibility of the integrated control system and compare the energy-saving effects, the force control(FC) of the HVCCS can be integrated with two different energy-saving control(ESC) systems, as well as integrating it with a conventional hydraulic system without energy-saving control. In this study, two different kinds of control algorithm are proposed to realize the integrated control of HVCCS. First, a decoupling self-organizing fuzzy sliding-mode control (DSOFSMC) strategy, which can reduce the fuzzy rule numbers and counteract the coupling effects, is developed for the integrated control of HVCCS. Then an H∞ control algorithm, which can perform good disturbance rejection, is implemented to the concurrent control in the HVCCS. The experimental results show the outstanding performance of the parallel control in the controlled system with the two proposed controllers. In comparison with conventional valve-controlled systems, the integrated control system with the proposed algorithms can also achieve better force control responses and significant energy-saving effect at the same time. |
URI: | http://ntur.lib.ntu.edu.tw//handle/246246/51049 | 其他識別: | zh-TW |
顯示於: | 工程科學及海洋工程學系 |
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ntu-93-D84525001-1.pdf | 23.53 kB | Adobe PDF | 檢視/開啟 |
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