Application of fuzzy sliding mode iterative learning control algorithm in hydraulic servo system
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摘要: 普通比例(P, Proportion)和比例微分(PD, Proportion and Differential)迭 代学习控制(ILC, Iterative Learning Control)算法在液压位置伺服系统中收敛速度比较 慢,很难在实际中应用.为了提高ILC算法的收敛速度,将滑模控制算法引入ILC,提出模糊 滑模迭代学习控制(FSMILC, Fuzzy Sliding Mode Iterative Learning Control)算法,利 用滑模控制响应快的优点来加速ILC的收敛速度,利用模糊控制来减小滑模控制所引起的抖 动问题.FSMILC算法的实质是以系统的滑模函数作为模糊控制器的输入,以模糊控制器的输 出作为ILC的控制增量.通过仿真可以看出,FSMILC算法能够实现系统快速收敛,相对于P型 和PD型具有明显优势.Abstract: The common P(proportion) type or PD(proportion and differential) type ILC(iterative learning control) is difficult to apply in a hydraulic servo syste m because of its low convergence rate. To improve the convergence rate, a new IL C based on a sliding mode fuzzy control is presented which combines a sliding mo de control with ILC. The new algorithm makes use of the fast response merit of a sliding mode control to quicken the convergence of ILC. The fuzzy control in th e algorithm can smooth the control signal and lessen the common dithering of sli ding mode control. The FSMILC(fuzzy sliding mode iterative learning control) is an iterative learning control algorithm essentially, which takes the function of a sliding mode control as the input of fuzzy control and takes the fuzzy contro l output as the control increment of iterative learning control. The simulation results indicate that the new algorithm is effective, which can achieve higher s peediness than that of iterative learning control of P type or PD type.
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