A self-adaptive control method for output feedback of hydraulic position servo system
A self-adaptive control and servo system technology, which is applied in the fields of fluid pressure actuation system components, fluid pressure actuation devices, special data processing applications, etc., can solve the problem of insufficient tracking control accuracy of hydraulic position servo system
Active Publication Date: 2017-08-25
XIAN UNIV OF TECH
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Problems solved by technology
[0004] The purpose of the present invention is to provide a hydraulic position servo system output feedback adaptive control method, which solves the problem that the tracking control accuracy of the hydraulic position servo system is not high enough in the prior art
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Embodiment
[0117] In this embodiment, the product models selected for the main components in the hydraulic position servo system are:
[0118] The asymmetric hydraulic cylinder adopts the model D:S-HAZ-16-200-LE-SB of FESTO Company;
[0119] The model of the three-position four-way proportional valve is D:H-B-43W-RV-NG6-K;
[0120] The model used by the sliding resistance linear displacement detector is D:S-HAZ-16-200-1-SIBU;
[0121] The model used by the general data acquisition card is PCI2306;
[0122] The model used by the computer is CPU P2 1.2GHz, the built-in control software of the computer is compiled by VB, and the change curve of the relevant variables in the control process is displayed on the screen.
[0123] The control objectives of this embodiment are respectively set as
[0124] Reference signal 1: S-curve
[0125] the y m =-(A / ω 2 )sin(ωt)+(A / ω)t, (13)
[0126] The value of A is 55.825, and the value of ω is 0.5π.
[0127] Reference signal 2: single frequency s...
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The invention discloses a self-adaptation control method for the output feedback of a hydraulic position servo system. The self-adaptation control method includes the steps that firstly, a model of the controlled hydraulic position servo system is established, above various variable parameters are obtained through real-time detection of respective detection instruments, friction force is neglected, a three-order linear model of the hydraulic system is obtained, and the output of the model is made to track the required expected output through a control target; secondly, an output feedback self-adaptation controller model of the hydraulic position servo system is established; and thirdly, unknown parameter values of the hydraulic position servo system are estimated, numerical values obtained through the estimation are input into a computer to update parameters of the output feedback self-adaptation controller model in real time, the computer controls the signal output of an amplifier, the displacement of a piston is adjusted in real time, and therefore the operation is completed. By means of the self-adaptation control method, no pressure detection hardware or algorithm needs to be added, and a better tracking effect and the higher control precision can be obtained.
Description
technical field [0001] The invention belongs to the technical field of high-precision position tracking control of a hydraulic system, and relates to an output feedback adaptive control method of a hydraulic position servo system. Background technique [0002] The hydraulic system (that is, the hydraulic position servo system) uses liquid as the working medium, which has the advantages of large power-to-volume ratio, strong carrying capacity, fast response speed, high control precision, small inertia, convenient speed regulation and high safety. It is widely used in various fields. [0003] However, due to the internal leakage of the liquid, the complex flow characteristics of the liquid through the valve port, and the relatively large friction between the hydraulic cylinder and the slider, these factors make the high-precision tracking control of the hydraulic position servo system very difficult. Contents of the invention [0004] The purpose of the present invention is...
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IPC IPC(8): F15B21/02G06F17/50
CPCF15B21/02G06F30/367
Inventor 任海鹏龚佩芬
Owner XIAN UNIV OF TECH