Controller Design And Simulation Of Fractional Order PI~λD~μon Water Pressure Servo Swing Cylinder

Water pressure servo swing cylinder serving as the driving device of water pressuresnake-like fire rescue robot require rapid response characteristics and better followperformance in relief situations. Then establishment of the linear mathematical modelfor water pressure servo swing cylinder and analysis for the system characteristics intime domain and frequency domain have a good practical sense. Aiming at the problemsof slow response and poor follow performance in water pressure servo swing cylinder,two kinds of fractional-order PID robust controller is proposed in this paper, and fastresponse and accuracy characteristics are achieved, meanwhile the good simulationperformance is obtained in the case of gain parameter variations and external torqueinterference. The main contents are as follows:Firstly, the basic principle of Oustaloup filter algorithm is introduced. Based on theoptimal Oustaloup digital implementation algorithm, the best adjustment factors ofcommon fractional operators are acquired through Matlab programming and simulationmethods.Secondly, the genetic optimization algorithm is proposed for a class of system toadjust parameters of fractional-order PIλDμcontroller, and taking the water pressureservo swing cylinder as an example, through simulation analysis to verify theeffectiveness of the genetic algorithm.Then, based on the open-loop transfer function of the water pressure servo swingcylinder control system, system phase in a given frequency domain is obtained, andcomparing it with the ideal transfer function phase, the sum function of error acting asthe objective function, and taking the amplitude of actual system in cutoff frequency asa constraint, the Fmincon function is used to get the controller parameters.Finally, based on the mathematical model of water pressure servo swing cylinderand the given frequency domain index, the phase margin method is used to designfractional-order PIλDμrobust controller, and taking advantage of Matlab optimaltoolbox function Fmincon to solve nonlinear equations.