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Implementation of an Adaptive Robust Position Controller for Electro-hydraulic Servo System with Accurate Tracking Performance

An electro-hydraulic servo system, adaptive robust technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of complex robust control design, high gain feedback of modeling uncertainty, etc.

Inactive Publication Date: 2019-01-18
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0009] The present invention solves the problem that the nonlinear model of the simplified system is linear or ignores the uncertainty of the system modeling in the control of the existing electro-hydraulic servo system, the phenomenon of high gain feedback exists in the traditional adaptive robust control, and the problem of parameter uncertainty and uncertainty exists at the same time. The deterministic nonlinear system can only ensure that the tracking error is bounded. At the same time, the design of the robust controller (RISE) based on the sign integral of the error is relatively complicated and can only ensure the local asymptotic stability of the entire system. A precise tracking performance is proposed. Implementation method of adaptive robust position controller for electro-hydraulic servo system

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  • Implementation of an Adaptive Robust Position Controller for Electro-hydraulic Servo System with Accurate Tracking Performance
  • Implementation of an Adaptive Robust Position Controller for Electro-hydraulic Servo System with Accurate Tracking Performance
  • Implementation of an Adaptive Robust Position Controller for Electro-hydraulic Servo System with Accurate Tracking Performance

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Embodiment Construction

[0074] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0075] Aspects of the invention are described in this disclosure with reference to the accompanying drawings, which show a number of illustrated embodiments. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those concepts and embodiments described in more detail below, can be implemented in any of a number of ways, which should be the concepts and embodiments disclosed by the present invention and not Not limited to any implementation. In addition, some aspects of the present disclosure may be used alone or in any suitable combination with other aspects of the present disclosure.

[0076] combine figure 1 , figure 2 Describe this embodiment, t...

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Abstract

The invention belongs to the field of electromechanical hydraulic servo control, and provides a method for realizing the adaptive robust position controller of an electro-hydraulic servo system with the accurate tracking performance. An electro-hydraulic position servo system is adopted as a research object, and a nonlinear model of the system is established. Meanwhile, the parameter uncertainty of the system and the uncertainty of external interference are considered at the same time. Moreover, for the uncertainty of the parameters of the system, unknown parameters are estimated accurately according to the parameter adaptive algorithm designed for the parameter uncertainty of the system. By means of the controller designed by introducing an auxiliary function, the robustness is ensured to be good for the external interference of the system and the uncertainty of unmodeled dynamics and the like. The controller is a full-state feedback controller, and enables the asymptotic tracking function for the position output of the electro-hydraulic servo system. Even when the time tends to be infinite, the tracking error is ensured to be zero. The controller designed in the invention is continuous in control voltage, and can be better applied in the practical engineering application.

Description

technical field [0001] The invention relates to the field of electromechanical-hydraulic servo control, in particular to a method for realizing an adaptive robust position controller of an electro-hydraulic servo system with precise tracking performance. Background technique [0002] Electro-hydraulic servo systems are widely used in aviation, aerospace, automobiles, ships, and construction machinery due to their outstanding advantages such as large power-to-weight ratio, fast dynamic response, good pressure and flow controllability, and flexible power transmission. With the development of these fields and the continuous improvement of the technical level, there is an urgent need for a high-performance electro-hydraulic servo system as a support, and the control performance obtained by the traditional linearization method cannot meet the system requirements gradually. The nonlinearity of the electro-hydraulic servo system, such as pressure dynamic nonlinearity, servo valve p...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 马大为杨贵超任杰徐张宝
Owner NANJING UNIV OF SCI & TECH
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