| The motor-driven loading system has important application value in many fields such asaviation and aerospace, industrial production, scientific research etc. The loading system cantrack fast and accurately tracking to torque instruction signal, and suppress or compensate thesuperfluous torque caused by movement of loaded objects. The surplus torque is a kind ofstrong disturbance formed by the torque and position coupling between the loading andloaded system, it seriously affected the control performance of the system, system cannotaccurately track the reference input instructions. Due to the surplus torque is generated andthe nonlinearity and uncertainty are inherent in the loading system, it is very difficult torestrain it effectively using traditional control methods. So it is necessary to undertake anin-depth study on the advanced control structures and strategies suitable for the motor-drivenloading system.First of all, through the analysis of structure and working principle of the motor-drivenloading system, the author derives the transfer function of each part, and gets the overallmathematical model of the motor-driven loading system. In order to restrain the disturbanceof surplus torque of the motor-driven loading system, a self-adaptive fuzzy PID controller isdesigned according to the character of the three parameters of PID controller．MATLABsimulation results show that the output torque of the system is able to track a given inputtorque, and the steady-state error is reduced obviously, so the control performance of thesystem is improved. Finally, to reduce the system error after multiple cycles, the compositecontroller is presented. A composite controller is constituted by paralleling the fuzzyself-adaptive PID controller and a repetitive controller, and it is used to improve controlprecision of the system. Computer simulation indicates that the method can more effectively reduce the tracking error of the system and improve control precision of the system. |
PDF Full Text Request