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Electro-hydraulic servo control method based on fading memory filtering and 2-DOF mechanical arm

An electro-hydraulic servo and attenuation memory technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of uncertain parameter constants, inability to estimate time-varying parameters, external interference, etc.

Inactive Publication Date: 2016-05-04
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

Traditional parameter adaptive control methods can only estimate unknown uncertain parameter constants, but cannot estimate time-varying parameters such as external disturbances of the system, etc.

Method used

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  • Electro-hydraulic servo control method based on fading memory filtering and 2-DOF mechanical arm
  • Electro-hydraulic servo control method based on fading memory filtering and 2-DOF mechanical arm
  • Electro-hydraulic servo control method based on fading memory filtering and 2-DOF mechanical arm

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Embodiment Construction

[0038] The following provides a specific real-time manner of the 2-DOF robotic arm motion control device based on the attenuation memory filter and the parameter adaptive estimation method of the present invention.

[0039] The model of the whole system is divided into two parts, including the model of electro-hydraulic servo actuator and the load force model of 2-DOF manipulator. They are briefly described as follows:

[0040] 1) Modeling of electro-hydraulic servo actuator

[0041] The four-order model is used to describe the electro-hydraulic servo actuator model of the servo valve driving hydraulic cylinder circuit as follows:

[0042]

[0043] where x i (i=1,...,4) is the model state variable, y hydraulic cylinder output displacement, is the output displacement rate of change, p L is the load pressure, x v is the displacement of the spool of the servo valve, is an uncertain parameter, m is the load mass, p s is the oil supply pressure, A p is the cross-sect...

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Abstract

The invention discloses an electro-hydraulic servo control method based on fading memory filtering and a 2-DOF mechanical arm. Dynamic control performance of the electro-hydraulic servo control driven 2-DOF mechanical arm with uncertain parameters is improved under the condition of external load disturbance by a parameter self-adaption reverse step control method. Uncertain parameters of a model in an electro-hydraulic servo system are estimated by a parameter self-adaption estimation rule, and then a reverse step control rule is designed to realize position tracking of the mechanical arm. In order to avoid the differentiation explosion effect generated by virtual control amount in the reverse step control rule, the virtual control amount and the external load disturbance are filtered through the control rule provided by the invention and by a method based on a fading memory filter, risks of control saturation are reduced to a certain degree, and dynamic control performance of joint movement of the 2-DOF mechanical arm is improved.

Description

technical field [0001] The invention relates to a control method of electro-hydraulic servo, in particular to a correction backstep control method of electro-hydraulic servo. Background technique [0002] There are many advanced control methods currently used in electro-hydraulic servo control systems, including robust control, parameter adaptive control, backstepping control, and precise feedback linearization methods. Traditional parameter adaptive control methods can only estimate unknown uncertain parameter constants, but cannot estimate time-varying parameters such as external disturbances of the system. Because the electro-hydraulic servo control system is a strict feedback model, the backstep control method is often used to design the control law, but the virtual control variable needs to be derived in the control law, and the direct derivation will bring differential explosion. The method of combining the filter with the parameter adaptive estimation law can not onl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 郭庆蒋丹张弈严尧尹静敏孙萍
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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