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Uncertainty Compensation Sliding Mode Control Method for Hydraulic Position Servo System

A servo system and uncertainty technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as system instability, modeling uncertainty, and models that cannot be accurately known, and achieve The effect of cutting gain, enhancing the ability to resist match and mismatch uncertainties and non-linearities

Active Publication Date: 2017-04-19
NANJING UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

Although perfect asymptotic tracking performance can be obtained in theory, the model of the actual system cannot be known precisely, and there will always be modeling uncertainty, which will deteriorate the tracking performance obtained by theoretical analysis
Although the adaptive control method can deal with the problem of parameter uncertainty, it can only obtain the steady-state performance of asymptotic tracking under the assumption that there is no external disturbance in the system.
Due to the mismatch uncertainty in the system, the basic idea of ​​the traditional sliding mode control method is to overcome the mismatch and matching uncertainty by increasing the robustness of the controller to reach the sliding mode surface. However, even if the sliding mode After the above, the systematic tracking error still cannot be zero under the interference of mismatch uncertainty, and only a uniformly bounded steady-state tracking error related to the upper bound of mismatch uncertainty can be obtained
Moreover, increasing the robustness of the controller by increasing the gain of the discontinuity item is likely to excite the high-frequency dynamics of the system in practical applications and make the system unstable
Therefore, the traditional sliding mode control method has great engineering limitations

Method used

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  • Uncertainty Compensation Sliding Mode Control Method for Hydraulic Position Servo System
  • Uncertainty Compensation Sliding Mode Control Method for Hydraulic Position Servo System
  • Uncertainty Compensation Sliding Mode Control Method for Hydraulic Position Servo System

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Embodiment 1

[0138] combine Figure 1 ~ Figure 3 , 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:

[0139] 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)=6×10 -6 m 3 ·rad / s, external load interference f(t)=200[1-exp(-0.1t 3 )] (N·m).

[0140] The desired instruction for a given system is x 1d =sin(t)[1-exp(-0.01t 3 )] (rad).

[0141] Take the following controller for comparison:

[0142] Sliding Mode Controllers for Matched and Mismatched Uncertainty Compensation: Taking the Mismatched Dis...

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Abstract

The invention discloses an uncertainty compensatory sliding-mode control method of a hydraulic position servo system. The uncertainty compensatory sliding-mode control method comprises the steps of firstly, establishing a mathematic model of the hydraulic position servo system, then respectively designing a mismatching disturbance observer and a matching disturbance observer, designing a sliding-mode controller based on the mismatching disturbance observer and the matching disturbance observer, and finally proving the global asymptotic stability of the system according to a Lyapunov stability principle. By means of the uncertainty compensatory sliding-mode control method, the gain of discontinuous terms of a sliding mode is remarkably reduced, and meanwhile accelerated speed information of the system is not used, so that matching uncertainty nonlinearity and mismatching uncertainty nonlinearity simultaneously exist in the system, asymptotic tracking steady-state performance is obtained, the capacity of resisting to matching and mismatching uncertainty and nonlinearity of the uncertainty compensatory sliding-mode control method applied in the hydraulic position servo system is improved, and good tracking performance is obtained.

Description

technical field [0001] The invention belongs to the technical field of electro-hydraulic servo control, in particular to a sliding mode control method for uncertainty compensation of a hydraulic position servo system. Background technique [0002] The hydraulic servo system has outstanding advantages such as large power-to-weight ratio, fast response and strong anti-load rigidity, and has been widely used in many important fields. 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 uncertainties and uncertain nonlinearities, among which parameter uncertainties mainly include load mass, viscous friction coefficient of actuator, leakage coefficient, servo valve flow gain, hydraulic oil elastic modulus, etc. Deterministic nonlinearity mainly includes unm...

Claims

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Application Information

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