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KE Zunrong
ZHU Yuquan
LING Xuan
School of Mechanical Science and
Engineering,
Huazhong University of Science
and Technology,
Wuhan 430074, China |
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NEW HYDRAULIC ACTUATOR'S
POSITION SERVOCONTROL
STRATEGY
Abstract:
A new hydraulic actuator—hydraulic muscle (HM) is described, and the actuator’s features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don’t need controlled system’s accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.
Key words:
Hydraulic muscle (HM) Position servocontrol Control strategies Subsection PID control Neural network self-adaptive PID control Single neuron self-adaptive PID control
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