中文摘要：

针对带长管道的连续回转凸轮转子马达液压伺服系统提出一种扩展PID控制策略.考虑液压伺服系统的长管道效应,凸轮转子叶片马达的负载波动及叶片与凸轮之间的力矩波动对系统造成的影响,在传统的PID控制基础上,引入二阶微分项与前馈微分控制项,组合成DfPIDD控制策略.分析了该系统的特点,通过AMESim软件对该系统进行建模与仿真分析,并通过实验验证了该控制策略能够较为有效得减少系统的延迟与抖动,能够达到优于传统PID控制的控制效果.

英文摘要：

In this paper we mainly approached a corresponding control strategy for the hydraulic servo system with cam rotor motor and long pipe. Considering the long pipe effect of hydraulic servo system, the load fluctuation of cam rotor motor and the torque fluctuation between the cam and the rotor blade, we combined the second order differential item and the feed forward control item on the basis of the traditional PID control to get a control strategy named Df PIDD. Then, we analyzed the system features and model the system through AMESim. According to the result of simulation and experiment, the DfPIDD control strategy was verified to be more effective to reduce the delay and jitter of the system than the traditional PID control strategy.