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An electro-hydraulic servo control method based on attenuation memory filter and 2‑dof manipulator

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

Inactive Publication Date: 2017-12-15
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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  • An electro-hydraulic servo control method based on attenuation memory filter and 2‑dof manipulator
  • An electro-hydraulic servo control method based on attenuation memory filter and 2‑dof manipulator
  • An electro-hydraulic servo control method based on attenuation memory filter and 2‑dof manipulator

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Embodiment Construction

[0044] The following provides a specific real-time method of a 2-DOF manipulator motion control device based on an attenuation memory filter and a parameter adaptive estimation method of the present invention.

[0045] The model of the whole system is divided into two parts, including the model of the electro-hydraulic servo actuator and the load force model of the 2-DOF manipulator. They are briefly described as follows:

[0046] 1) Modeling of electro-hydraulic servo actuator

[0047] A fourth-order model is used to describe the electro-hydraulic servo actuator model of the hydraulic cylinder circuit driven by the servo valve as follows:

[0048]

[0049] where x i (i=1,…,4) are model state variables, y hydraulic cylinder output displacement, is the rate of change of output displacement, p L is the load pressure, x v is the displacement of the servo valve spool, is an uncertain parameter, m is the load mass, p s is the oil supply pressure, A p is the cross-sec...

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Abstract

The invention discloses an electro-hydraulic servo control method based on attenuation memory filtering and a 2-DOF manipulator, and adopts a parameter self-adaptive backstepping control method to improve the electro-hydraulic servo control drive 2 under the condition of parameter uncertainty and external load interference. ‑Dynamic control performance of DOF manipulator. The uncertain parameters of the model in the electro-hydraulic servo system are estimated by the parameter adaptive estimation law, and then the backstepping control law is designed to realize the position tracking of the manipulator. In order to avoid the differential explosion effect produced by the virtual control quantity in the backstepping control law, the control law proposed in this patent adopts the method based on the attenuation memory filter to filter the virtual control quantity and external load disturbance, which reduces the Controls the risk of saturation and improves the dynamic control performance of 2‑DOF manipulator arm joint motion.

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. The traditional parameter adaptive control method can only estimate the unknown uncertain parameter constant, but cannot estimate the time-varying parameters such as the external disturbance of the system. Since the electro-hydraulic servo control system is a strict feedback model, the backstepping 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. Therefore, this patent adopts the attenuation memory The method of combini...

Claims

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Application Information

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Patent Type & Authority Patents(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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