Hydraulic motor preset performance tracking control method with hysteresis compensating

A hydraulic motor, tracking control technology, applied in the field of control, can solve the problems of phase lag, system instability, high gain feedback, etc.

Inactive Publication Date: 2015-03-25
NANJING UNIV OF SCI & TECH
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Problems solved by technology

Hysteresis nonlinearity is an inherent characteristic of the torque motor. If it is not considered in the controller design, it will easily lead to the phase lag of the valve-controlled motor servo system in the low frequency band, which will affect the final performance of the designed motion controller; (3) high gain feedback
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  • Hydraulic motor preset performance tracking control method with hysteresis compensating
  • Hydraulic motor preset performance tracking control method with hysteresis compensating
  • Hydraulic motor preset performance tracking control method with hysteresis compensating

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Embodiment Construction

[0054] Combine figure 1 , figure 2 with Figure 8 , The specific steps of a hydraulic motor preset performance tracking control method with hysteresis compensation are as follows:

[0055] Step 1. Hysteresis characteristic model. Due to the discontinuous characteristics of the traditional gap hysteresis model, it is very unfavorable for the controller design of the nonlinear system. The present invention uses the following hysteresis model:

[0056] du dt = α | dv dt | ( cv - u ) + B 1 dv dt - - - ( 1 )

[0057] In formula (1), u is the output of the hysteresis model, that is, the effective control input voltage, c, α and B 1 Is the hysteresis characteristic parameter, and satisfies c>B 1 , V is the output control quantity of the controller, and specific expressions will be given in the subsequent controller design. Formula (1) can be transformed into:

[0058]

[0059] U in formula (2) 0 And v 0 Represents the initial...

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Abstract

The invention provides a hydraulic motor preset performance tracking control method with hysteresis compensating. The method comprises the steps that 1. a double-vane motor position servo system mathematical model with hysteresis is established; 2. a preset performance tracking control method with hysteresis compensating is designed; and 3. system parameters are designed. Preset performance requirements are fully considered, system hysteresis nonlinearity and high gain feedback are considered, the hydraulic motor preset performance tracking control method with hysteresis compensating is provided, according to the method, hysteresis nonlinearity is subjected to modeling to form the sum of a linear term and a bounded disturbance term, designing of a following moving controller is very convenient, for system parameter uncertainty and a non-modeling disturbance term, a self-adaptation robust control method is used, and meanwhile good parameter estimation and robust boundedness stability are guaranteed.

Description

Technical field [0001] The invention relates to a control method, in particular to a hydraulic motor preset performance tracking control method containing hysteresis compensation. Background technique [0002] The electro-hydraulic servo system has outstanding advantages such as high power density, fast response, and large output force / torque. It has been widely used in industry and national defense, such as manipulators, aircraft control, and load simulators. Among them, hydraulic servo motors are widely used in occasions that require rotational motion because they can directly output torque. However, the electro-hydraulic servo system has many model uncertainties, including parameter uncertainties (such as the flow gain of the servo valve, the bulk modulus of the hydraulic oil, the leakage coefficient of the motor, etc.) and uncertain nonlinearities (such as unmodeled External interference, nonlinear friction, hysteresis, etc.), all of which bring great difficulties to the des...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 姚建勇董振乐马大为胡健
Owner NANJING UNIV OF SCI & TECH
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