含平衡阀阀控缸的非线性模型预测轨迹跟踪

魏齐,陶建峰,孙浩,张宇磊,刘成良

Nonlinear model predictive trajectory tracking for valve-controlled cylinder with counterbalance valve

Qi WEI,Jianfeng TAO,Hao SUN,Yulei ZHANG,Chengliang LIU

表 4 提出方法与FF-PI控制器的平均液压力振幅对比

Tab.4 Comparison of average hydraulic force amplitude between proposed method and FF-PI controller

控制器 负载工况/kg $ {G}_{i} $/dB ${\eta _i}$/% 同增益FF-PI 无 1.9056 35.52 小增益FF-PI 无 0.06 1.36 同增益FF-PI 240 9.28 88.19 小增益FF-PI 240 5.71 73.18