An electro-hydraulic load simulator error symbol integral robustness control method

An electro-hydraulic load and error sign technology, applied in adaptive control, general control systems, control/regulation systems, etc., can solve problems such as controller discontinuity, model uncertainty, and high-gain feedback

Active Publication Date: 2016-06-22
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide an electro-hydraulic load simulator error sign integral robust control method, which solves the neglected model uncertainty in the existing electro-hydraulic load simulator and is designed based on the traditional sliding mode control method The controller is discontinuous, and the general adaptive robust control method has the problem of high gain feedback phenomenon

Method used

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  • An electro-hydraulic load simulator error symbol integral robustness control method
  • An electro-hydraulic load simulator error symbol integral robustness control method
  • An electro-hydraulic load simulator error symbol integral robustness control method

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Embodiment

[0175] The parameters of the dual vane hydraulic motor force control load simulator are:

[0176] A=2×10 -4 m 3 / rad, B=80N 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, V 01 =V 02 =1.7×10 -4 m 3 , J=0.32kg·m 2 ,a 1 =3.5×10 -4 ,a 2 =5×10 -4 ,c 1 =700,c 2 =15,c 3 =1.5

[0177] The designed controller parameters are selected as: k 1 =200,k r = 0.01, β = 0.1. The time-varying external disturbance of the system is selected as d=200sint, and the trajectory is The torque command that the system expects to track is a curve

[0178] The effect of the control law:

[0179] image 3 It is the u curve of the input voltage of the interference controller, the control input signal is continuous, and the input voltage meets the input range of -10V ~ +10V, which is in line with practical application.

[0180] combine Figure 4 and Figure 5 , it can be seen that the command signal and the tracking error curve can be seen that ...

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Abstract

The invention discloses an electro-hydraulic load simulator error symbol integral robustness control method. On account of system characteristics of an electro-hydraulic load simulator, friction characteristics of the system are analyzed through friction identification, and a continuously differentiable friction model is established; parameter errors, modeling errors, unmodeled dynamics and outer interferences are classified into system non-determinacy non-linearity. A designed error symbol integral robustness control device realizes asymptotic stability performance in a condition that no high gain feedback is used, so that a good robustness effect is realized, and an output torque of the electro-hydraulic load simulator can be ensured to accurately track any assigned torque instruction. According to the invention, the design of the controller is simplified; control voltages of the controller are continuous; and application in engineering reality is facilitated.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to an error symbol integral robust control method of an electro-hydraulic load simulator, which is based on a continuous differentiable friction model. Background technique [0002] The performance of precision strike weapons is the most important factor in determining the outcome of modern warfare. The control of the weapon's attitude, trajectory and direction is the key. This process relies on the inertial device on the weapon or the guidance and retrieval system to sense the target position, and then the central The control computer calculates the control commands and then controls the output. All of these control outputs go to the final servo actuator (servo). Therefore, the performance of the actuator is related to the all-round development of national defense industries such as aviation, aerospace, ships, and artillery. It determines the structure and layout of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 岳欣姚建勇仇杨
Owner NANJING UNIV OF SCI & TECH
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