Abstract:

This paper presented an investigation into development of trajectory planning strategies for an electro-hydraulic position servo system with a flexible load;the final aim was to eliminate the residual vibration of the flexible load.The motion trajectory was obtained by superimposing cubic polynomials onto a ramp,
a cycloid,and a simple harmonic function.The coefficients of the equations were determined by initial and final conditions of rigid load movement and the constraint condition that the free vibration amplitude of flexible load was zero.A fuzzy controlling strategy was used to the electro-hydraulic system for tracking presented desired optimizing trajectory.The numerical simulations were carried out to demonstrate the control performance of the proposed approach. 

Key words: electro-hydraulic position system, vibration reduction, trajectory planning, fuzzy control

摘要：

针对具有柔性负载电液位置伺服系统,提出了基于柔性负载残余振动抑制的轨迹规划控制方法。运动轨迹由三次多项式运动、
等速运动、摆线运动和简谐运动组合而成,而运动轨迹方程中各项系数是由刚性负载运动的起始边界条件、终止边界条件和柔性负载自由振动为零的约束条件来确定的。采用模糊控制设计方法实现了电液伺服系统对上述优化轨迹的跟踪。数值仿真结果验证了该方法的正确性。
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关键词: 电液位置伺服系统, 振动抑制, 轨迹跟踪, 模糊控制