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A Disturbance Rejection Adaptive Control Method for Hydraulic Motor Position Servo System

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

Active Publication Date: 2017-06-27
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Claims
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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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  • A Disturbance Rejection Adaptive Control Method for Hydraulic Motor Position Servo System
  • A Disturbance Rejection Adaptive Control Method for Hydraulic Motor Position Servo System
  • A Disturbance Rejection Adaptive Control Method for Hydraulic Motor Position Servo System

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0192] 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:

[0193] Load moment of inertia m=40kg·m 2 , 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 βe =2×10 8 P a , the total control volume V of the two chambers of the motor t =2×10 -3 m 3 , the leakage coefficient C t =9×10 -12 m 3 / s / P a , the 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.

[0194] The desired instruction for a given system is x 1d =sin(t)[1-exp(-0.01t 3 )](rad). Take the following controllers for comparison:

[0195] Active Disturbance Rejection Adaptive (ADRAC) Controller:

[0196] Take controller parameters: Observer bandwidth ω 0 =1000,c 2 =1.5,c 3 =1×10 -8 ,θ ...

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Abstract

The present invention discloses a method of Active Disturbance Rejection Adaptive Control (ADRAC) for a hydraulic motor position servo system. The control method is based on the Linear Extended State Observer (LESO) and the Adaptive Robust Control (ARC) Feed-and-cancellation method is obtained by combining the two. The control method uses LESO to estimate the uncertain nonlinearity of the system and compensates it in the controller design. At the same time, the adaptive control is used to deal with the parameter uncertainty of the system to improve the accuracy of the controller model compensation. Good tracking performance.

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