Method for controlling nonlinear robust position of electro-hydraulic servo system with time-varying output constraints

An electro-hydraulic servo system and output constraint technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of high gain feedback, can not arbitrarily restrain the output tracking error, jitter phenomenon, etc., to achieve great flexibility performance, improve robustness, and control the effect of continuous voltage

Active Publication Date: 2015-01-28
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0009] The present invention solves the problem that the simplified system nonlinear model in the existing electro-hydraulic servo system control is linear or ignores the uncertainty of system modeling, high gain feedback, vibration phenomenon based on the

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  • Method for controlling nonlinear robust position of electro-hydraulic servo system with time-varying output constraints
  • Method for controlling nonlinear robust position of electro-hydraulic servo system with time-varying output constraints
  • Method for controlling nonlinear robust position of electro-hydraulic servo system with time-varying output constraints

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[0023] In order to better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

[0024] Combine figure 1 , figure 2 As shown, according to a preferred embodiment of the present invention, a non-linear robust position control method for an electro-hydraulic servo system with time-varying output constraints, its realization includes the following steps:

[0025] Step 1. Establish a mathematical model of the electro-hydraulic position servo system;

[0026] Step 2. Design an expanded state observer to estimate the interference of the electro-hydraulic position servo system;

[0027] Step 3. Design an adaptive robust position controller for an electro-hydraulic servo system with time-varying output constraints;

[0028] Step 4. Adjust the parameters to make the position output of the electro-hydraulic position servo system accurately track the desired position command, and make the input of the hy...

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Abstract

The invention discloses a method for controlling a nonlinear robust position of an electro-hydraulic servo system with time-varying output constraints, and the method comprises the following steps of: selecting an electro-hydraulic position servo system as a research object, creating a nonlinear system model and considering external interference of the system and modeling uncertainty; estimating unmodeled interference and uncertainty through an extended state observer and performing feed-forward compensation by combining a backstepping control method, and flexibly performing time-varying asymmetric constraints to output position tracking errors by adopting a nonlinear robust controller designed based on time-varying asymmetric barrier Lyapunov functions; the control voltage of the nonlinear robust controller is continuous and more beneficial for practical application in engineering.

Description

technical field [0001] The invention relates to the field of electro-hydraulic servo control, in particular to a nonlinear robust position control method of an electro-hydraulic servo system with time-varying output constraints. Background technique [0002] Electro-hydraulic servo systems are widely used in industry, national defense and other fields due to their outstanding advantages such as high power density, fast dynamic response, large output force / torque, and strong load stiffness. With the continuous advancement of the technical level in these fields, there is an urgent need for high-performance electro-hydraulic servo systems as support, and the control performance obtained by traditional linearization methods cannot meet the system requirements gradually. The nonlinearity of the electro-hydraulic servo system, such as servo valve pressure flow nonlinearity, pressure dynamic nonlinearity, friction nonlinearity, etc., has gradually become a bottleneck factor that li...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 姚建勇杨贵超徐张宝邓文翔董振乐
Owner NANJING UNIV OF SCI & TECH
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