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Robust adaptive control (RAC) method of electro-hydraulic position servo control system

An electro-hydraulic position servo and adaptive control technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve high-frequency dynamic system instability, loss of asymptotic tracking steady-state performance, and uncertainty non-linear issues

Active Publication Date: 2015-02-11
NANJING UNIV OF SCI & TECH
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Problems solved by technology

But in this way, the steady-state performance of asymptotic tracking is lost, and only a bounded tracking error can be obtained; in order to solve the problem of parameter uncertainty and uncertainty nonlinearity at the same time, the adaptive robust control (ARC) method is adopted It is proposed that the control method can make the system obtain definite transient and steady-state performance under the condition that two kinds of modeling uncertainties exist at the same time. If the high-precision tracking performance is to be obtained, the tracking error must be reduced by increasing the feedback gain. However, excessive feedback gain will increase the bandwidth of the closed-loop system, which may excite the high-frequency dynamics of the system and destabilize the system

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  • Robust adaptive control (RAC) method of electro-hydraulic position servo control system

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Embodiment

[0203] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the electro-hydraulic position servo system:

[0204] 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 β e =2×10 8 P a , the initial volume V of the two chambers of the motor 01 =V 02 =1×10 -3 m 3 , leakage coefficient C t =9×10 -12 m 3 / s / P a , total flow gain Pressure dynamic modeling error q 1 (t)=q 2 (t)=1×10 -5 m 3 ·rad / s, external load disturbance f(t)=50sint(N·m).

[0205] The desired instruction for a given system is x 1d =sin(t)[1-exp(-0.01t 3 )] (rad). Take the following controller for comparison:

[0206] Robust adaptive (RAC) controller: take the controller parameter k 1 =10,k 2 =5×10 -5 ,k 3 =1×10 -5 ,k s2 = 1,k s3 = 1, θ min =[-50,-100,1,1×10 8 ,-1×10-...

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Abstract

The invention discloses a robust adaptive control (RAC) method of an electro-hydraulic position servo control system for simultaneously considering uncertainty of matching and mismatching. The method is fused with an adaptive control (AC) method; the inverse design is performed through skillfully designing a nonlinear robust control law and using the continuously differentiable properties, so that the parameter estimation of the system is not affected under the condition that the system has parameter uncertainty, uncertainty nonlinearity of matching and mismatching; the performance of asymptotically tracking can be obtained. Through the disclosed control method, the robustness of the traditional adaptive control on the uncertainty nonlinearity of external load disturbance is increased; the uncertainty nonlinearity of matching and mismatching can be simultaneously treated; an excellent tracking performance can be obtained.

Description

technical field [0001] The invention relates to the technical field of electro-hydraulic servo control, and mainly relates to a robust self-adaptive control method for an electro-hydraulic position servo system that simultaneously considers the uncertainty of matching and mismatching. Background technique [0002] Due to its high power density, large force / torque output, and fast dynamic response, the electro-hydraulic servo system plays a pivotal role in the fields of aircraft, heavy machinery, and high-performance rotating test equipment. Electrohydraulic servo system is a typical nonlinear system, which contains many nonlinear characteristics and modeling uncertainties. Nonlinear characteristics include servo valve flow pressure nonlinearity, friction nonlinearity, etc. Modeling uncertainties include parameter uncertainty and uncertainty nonlinearity, among which parameter uncertainties mainly include load mass, viscous friction coefficient of the actuator, Leakage coeff...

Claims

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Application Information

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