雙缸油壓系統受時變負荷之同步性控制

Abstract

在工業界中，有許多應用雙油壓缸同步性控制的場合。並且此雙油壓缸所受的外在負荷，是一種非線性時變的形式。本文將提出一回授控制油路，來針對雙缸油壓系統受時變負荷之同步性控制。在實驗上並提出三種控制方法，分別為Fuzzy、PWM和PID控制法，來改善雙油壓缸同步誤差的精度。最後使用誤差判斷法則，來比較分析三種控制方法之優劣性。由實驗結果得知，比起傳統之PID及PWM控制法，應用Fuzzy控制法，系統的安定時間以及雙油壓缸的同步誤差，可以控制在1秒及1釐米之內，而得到較佳之控制結果。

There are many applications of dual hydraulic cylinders of synchronization control in industry. In this thesis, a hydraulic circuit is established to make the dual hydraulic cylinders subjected to varying loads travel synchronously. Three control methods are used to improve the synchronous precision include PID controller, "pulse width modulation control method" namely PWM controller and Fuzzy method. The hydraulic circuit is examined by numerical simulation and experiment. In final, using some criteria compare the results of controllers. From the experimental results, the setting time can be controlled within 1 second and the synchronous error of dual hydraulic cylinders can converge within 1 mm by the proposed Fuzzy controller.