ADRAC (active-disturbance-rejection adaptive control) method for hydraulic motor position servo system

A technology of adaptive control and adaptive controller, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as controller performance deterioration, achieve good tracking performance, overcome conservatism, and improve accuracy Effect

Active Publication Date: 2015-02-11
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

However, ADRC combines parameter uncertainty and uncertainty nonlinearity as the aggregated modeling uncertainty of the system, instead of treating the two separately. When the vast majority of the uncertainty is modeled, the performance of the controller will obviously deteriorate

Method used

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  • ADRAC (active-disturbance-rejection adaptive control) method for hydraulic motor position servo system
  • ADRAC (active-disturbance-rejection adaptive control) method for hydraulic motor position servo system
  • ADRAC (active-disturbance-rejection adaptive control) method for hydraulic motor position servo system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0194] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the hydraulic motor position servo system:

[0195] Load moment of inertia m=40kg·m2 , Motor displacement A=2×10 -4 m 3 / rad, viscous friction coefficient B=80N m s / rad, oil supply pressure P s =7MP a , return oil pressure P r =0, oil elastic modulus β e =2×10 8 P a , the total control volume V of the two chambers of the motor t =2×10 -3 m 3 , leakage coefficient C t =9×10 -12 m 3 / s / P a , total flow gain Coulomb friction amplitude A f =10N·m, shape function Pressure dynamic modeling error Q(t)=1×10 -4 m 3 rad / s.

[0196] The desired instruction for a given system is x 1d =sin(t)[1-exp(-0.01t 3 )] (rad). Take the following controller for comparison:

[0197] Active Disturbance Rejection Adaptive (ADRAC) Controller:

[0198] Get controller parameters: k 1 = 500 ...

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Abstract

The invention discloses an ADRAC (active-disturbance-rejection adaptive control) method for a hydraulic motor position servo system. The control method is based on an LESO (linear extended state observer) and an ARC (adaptive robust control) method, and is obtained through mutually combining the LESO and the ARC method by a feedforward cancellation method. The control method has the advantages that the LESO is used for estimating the nonlinear uncertainty of the system, in addition, the compensation is carried out in the control design, meanwhile, the parameter uncertainty of an adaptive control processing system is adopted for improving the precision of the controller module compensation, and good tracking performance is obtained.

Description

technical field [0001] The invention relates to the technical field of electro-hydraulic servo control, and mainly relates to an adaptive control method for active disturbance rejection of a hydraulic motor position servo system. Background technique [0002] Hydraulic motor position servo system plays a pivotal role in the fields of aircraft, heavy machinery, and high-performance rotating test equipment due to its high power density, large force / torque output, and fast dynamic response. The electro-hydraulic servo system is a typical nonlinear system, which contains many modeling uncertainties, including parameter uncertainty and uncertain nonlinearity. The parameter uncertainties mainly include load mass, viscous friction coefficient of the actuator, leakage coefficient, servo valve flow gain, hydraulic oil elastic modulus, etc. Uncertain nonlinearity mainly includes unmodeled friction dynamics, high-order system dynamics, external disturbances, and unmodeled leakage. The...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 姚建勇邓文翔
Owner NANJING UNIV OF SCI & TECH
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