Iterative Learning Control Based On The Electro-hydraulic Servo System Of Shotcreting Robot

In this paper,the rotation of the shotcrete robot gun electro-hydraulic position servo system have been studied,in accordance with the requirements of the corresponding selected hydraulic components,and to identify the corresponding system parameters,while the establishment of a mathematical model of electrohydraulic servo system,focus on the system step response in the case of the output of dynamic performance.The paper used in the traditional PID control while the dynamic characteristics of the system to achieve a certain degree of controling,However,the three parameters of PID controller(proportional,differential,integral) the need for tuning or debugging,it is difficult to determine the down time.Thus,PID control systems have difficulty adapting to the modern electro-hydraulic servo control technology development needs.In addition,the electro-hydraulic servo system have been mostly non-linear,large inertia,uncertainty,outside interference and strong-coupling and other factors,but also by the oil viscosity,temperature,operating environment,such as the impact of uncertain factors,such difficult to establish accurate mathematical model of the system.To further enhance the dynamic characteristics of electro-hydraulic servo system,This paper presents a new type of intelligent control methods - Iterative Learning Control.The paper introduces the iterative learning control of the basic theoretical knowledge,including the characteristics of iterative learning control,classification, learning algorithm and its computer realization of control algorithm.Also iterative learning control of the learning speed and convergence to the corresponding analysis. In this paper,by comparing the P-type,PD-type and PID-type iterative learning control of three,and MATLAB / Simulink simulation was informed that,in the PID-type iterative learning control,the electro-hydraulic servo system with fast dynamic response,stability also good.Application of Iterative Learning Control electrohydraulic servo system can achieve the desired control effect.