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

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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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 traditional sliding mode control method, and the inability to arbitrarily constrain the output tracking error. Tolerance problem, a nonlinear robust position control method for electro-hydraulic servo system with time-varying output constraints is proposed

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