Hydraulic motor preset performance tracking control method with hysteresis compensation
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A hydraulic motor, tracking control technology, applied in the field of control, can solve problems such as high gain feedback, system hysteresis nonlinearity, etc.
Inactive Publication Date: 2016-06-22
NANJING UNIV OF SCI & TECH
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[0009] In order to solve the problems that the existing electro-hydraulic servo system does not fully consider the preset performance requirements, the hysteresis nonlinearity of the system, and the existence of high-gain feedback, taking the double-blade hydraulic motor position servo system as an example, a hysteresis compensation is proposed. Hydraulic motor preset performance tracking control method
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specific Embodiment approach 1
[0061] Specific implementation mode one: combine figure 1 and figure 2 To illustrate this embodiment, the specific steps of a hydraulic motor preset performance tracking control method with hysteresis compensation described in this embodiment are as follows:
[0062] Step one (1), hysteresis characteristic model. Due to the discontinuous characteristics of the traditional gap hysteresis model, it is very unfavorable for the controller design of the nonlinear system. The present invention uses the following hysteresis model:
[0063] d u d t = α | d v d t | ( c v - u ) + B 1 d v ...
Embodiment
[0146] The parameters of the double-vane hydraulic motor position servo system are inertial loads: J=0.2kg m 2 ; B=90N m s / rad; k t =1.1969×10 -8 m 2 / s / V / Pa -1 / 2 , V t =1.16×10 -4 m 3 ;β e =700MPa; C t =1×10 12 m 3 / s / Pa;D m =5.8×10 -5 m 3 / rad;P s =10MPa; P r =0.
[0147] In order to fully verify the effectiveness of the controller designed in this paper, the traditional Adaptive Robust Control (ARC) is selected for comparison. The design steps of the traditional ARC controller are similar to the controller designed in this paper, but it lacks the planning of the preset performance function function, the corresponding parameter is selected as k 1 =150,k 2 =1000,k 3 =30.
[0148] In this paper, the controller (denoted as PPARC) is designed, that is, the formula (24): the parameters are selected as: k 1 =150,k 2=2000,k 3 = 30, ρ 0 =0.3, ρ ∞ = 0.001, k = 0.5, δ = 5, Adaptive law parameters are selected as Γ 1 =0.01, Γ 2 =8e-6,Γ 3 =1000, Γ 4 =1e-10...
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Abstract
The invention provides a hydraulic motor positional servo system preset performance tracking control method with hysteresis compensation, which belongs to the field of electro-hydraulic servo control. A principle schematic diagram of the control method is shown in abstract accompanying figure. According to the hydraulic motor preset performance tracking control method, system parameter uncertainty, unmodeled outside interference and hysteresis nonlinearity are considered, and an excellent tracking controller is designed; for the hysteresis nonlinearity, the hysteresis nonlinearity is subjected to modeling to form the sum of a linear term and a bounded interference term, thereby greatly facilitating the design of a subsequent moving controller; for the system parameter uncertainty and the unmodeled interference term, a self-adaptive robust control method is adopted, and good parameter estimation and robust bounded stabilization are ensured; and for preset performance requirement, a preset performance function is adopted, reasonable planning of tracking error convergence speed and maximum overshoot is achieved, and the excellent tracking controller is designed for conversion errors, thereby further ensuring that the tracking errors satisfy the preset performance requirement. Further, effectiveness of the controller is verified through contrast simulation results.
Description
technical field [0001] The invention relates to a control method, in particular to a hydraulic motor preset performance tracking control method with hysteresis compensation. Background technique [0002] The electro-hydraulic servo system has outstanding advantages such as high power density, fast response, and large output force / torque. It has been widely used in industrial and national defense fields, such as manipulators, aircraft control, and load simulators. Among them, hydraulic servo motors are widely used in occasions that require rotary motion because they can directly output torque. However, there are many model uncertainties in the electro-hydraulic servo system, including parameter uncertainty (such as the flow gain of the servo valve, the bulk modulus of the hydraulic oil, the leakage coefficient of the motor, etc.) and uncertain nonlinearity (such as the unmodeled External interference, nonlinear friction, hysteresis, etc.), these all bring great difficulties ...
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