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《China Mechanical Engineering(中国机械工程)》 1996-01
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A Learning Control Theory for Double Hydraulic Actuator Synchronous Motion

Liu Wei et al.(Chongqing University, Chongqing,China)  
This paper presents a PID strategy of learning control system for double actuator synchonous motion.The actual motion value of the actuator to be controlled is used as another actuator's desired motion value in this learning control system. Based on the analysis of optimum substitution of difference for derivative in the "soft sampling" of highorder motion variation and D operation of learning control equation,the sampling period is dynamically optimized by minimizing the total errors. The accuracy of this system and the convergency of the discrete learning control equation is guaranteed.
【Fund】: 国家自然科学基金
【CateGory Index】: TH137
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