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Fusion Adaptive Robust Force Control Method for Electro-hydraulic Load Simulator

An adaptive robust and load simulator technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as uncertain nonlinearity, system instability, and reduced system tracking performance, and achieve Effects of continuous control voltage, improved accuracy, and improved tracking performance

Active Publication Date: 2018-01-05
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0006] (1) Ignoring the model uncertainty of the system: the model uncertainty of the electro-hydraulic servo system mainly includes parameter uncertainty and uncertainty nonlinearity; parameter uncertainty includes the change of load mass, the change with temperature and wear Viscous friction coefficient and electrical gain, etc.; uncertain nonlinearity, such as unmodeled dynamics and external disturbances; ignoring the existence of uncertainties may make the controller designed based on the system nominal model unstable or degrade the performance
[0007] (2) The controller designed based on the traditional sliding mode control method is discontinuous: the traditional sliding mode control method is easy to cause the vibration of the sliding mode surface, which makes the designed controller discontinuous and deteriorates the tracking performance of the system
[0008] (3) There is a high-gain feedback phenomenon based on the general adaptive robust control method: the general adaptive robust controller suppresses the uncertain nonlinearities such as large external disturbances that may occur through strong gain nonlinear feedback control This improves system performance; however, high-gain feedback is susceptible to measurement noise and may excite high-frequency dynamics in the system, thereby degrading system tracking performance and even causing system instability
[0009] (4) The parameter estimation accuracy cannot meet the requirements, and if indirect adaptive robust control is used, the tracking performance will deteriorate

Method used

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  • Fusion Adaptive Robust Force Control Method for Electro-hydraulic Load Simulator
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  • Fusion Adaptive Robust Force Control Method for Electro-hydraulic Load Simulator

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Embodiment

[0110] The parameters of the load simulator for double-vane hydraulic motor force control are: A=2×10 -4 m 3 / rad, B=800N m s / rad, β e =2×10 8 Pa, C t =9×10 -12 m 5 / (N·s), P s =21×10 6 Pa, P r = 0 Pa, V01 =V 02 =1.7×10 -4 m 3 , J=0.32kg·m 2 ;

[0111] Comparing the simulation results: During the simulation, the purpose of adjusting the gain k and h is the same. In order to facilitate the simulation, the control performance can be satisfied by only adjusting the value of the gain k, and then the adjustment gain h can be omitted. The controller parameters designed in this embodiment are selected as: k=5×10 -6 , gamma 1 =0.01, the adaptive law parameter is selected as Γ 1 =0.5×10 -7 , Γ 2 =0.5×10 -13 , Γ 1 =0.2; the estimation range of system parameters is selected as: θ min =[0,0,0] T , θ max =[1×10 -8 ,1.8×10 -11 ,8×10 -6 ] T .

[0112] The time-varying external disturbance of the system is selected as d=200sint, and the trajectory is The torque ...

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Abstract

The invention discloses a fusion-type self-adaptive and robust electro-hydraulic load simulator force control method, which belongs to the field of electro-hydraulic servo control and specifically includes: establishing a mathematical model of an electro-hydraulic load simulator; determining parameters of an electro-hydraulic load simulator The adaptive rate; design a controller based on fusion adaptive robust electrohydraulic load simulator force control. The present invention adopts the method of fast dynamic compensation to overcome the shortcoming of poor output tracking performance in indirect self-adaptation, and improves the tracking performance of the system; at the same time, it also completely separates the parameter estimation from the design of robustness, so that the parameter estimation is less likely to be The influence of sampling interference and noise improves the accuracy of parameter estimation.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to an electro-hydraulic load simulator force control method based on fusion type adaptive robustness. Background technique [0002] The load simulator is used to simulate the aerodynamic moment on the rudder surface of the aircraft and other moving objects during flight and movement. It is one of the important ground simulation equipment for missile and other weapon systems. The load simulator is also called the force / torque servo loading system, which belongs to the category of force / torque servo control system and has a structure similar to that of the ordinary force / torque servo system. As attached to the manual figure 2 As shown, a general load simulator mainly includes servo controllers, actuators (hydraulic cylinders, hydraulic motors, loading motors, etc.) and detection components, etc. The core is the servo controller, and the expected output of the system is ...

Claims

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Application Information

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