中文摘要：

为解决大弹性负载伺服系统在低速和换向时存在的冲击和振动问题,提出一种基于负载力反馈的变论域双模糊控制算法.以拥有大弹性负载的液压伺服系统为对象,针对在最大负载处反向扭转时容易出现冲击的特点,采用负载力反馈进行补偿.同时,针对负载力随弹簧刚度和液压缸杆位移变化而变化的特点,提出变论域双层模糊控制算法.第一层模糊控制器以负载反馈作为输入,以第二层模糊控制器输出论域的伸缩因子作为输出,结合以误差反馈为输入的第二层模糊控制器,形成更加适合大弹性负载的控制方法.仿真和试验结果表明,提出的控制方法能够有效地解决伺服系统在大弹性负载下的换向冲击以及振动等问题,并且拥有良好的控制效果.

英文摘要：

To address the impact and chattering problem when huge elastic load is running at a low speed,a load torque based variable universe double fuzzy control method is proposed.Consider the hydraulic servo system,a load force is used to solve the impact problem when the system is changing its＇ velocity direction.Since the load force will change along with the displacement and the spring stiffness,a variable universe double fuzzy control scheme is proposed.Load force is applied to form the first fuzzy controller,which is aim to change the universe stretch and retraction factor.Traditional fuzzy proportion,integration,differentiation（PID） is used to adjust the PID parameter according to the feedback errors.A more suitable elastic load controller is then formed by combining these two fuzzy controllers.Simulations and experiments show that the proposed controller has the ability to address the impact and chattering problem with respect to huge elastic load while a better performance is maintained.