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Discontinuous projection mapping-based implementation method for nonlinear robust position controller of electro-hydraulic servo system

An electro-hydraulic servo system and projection mapping technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of modeling uncertainty, high gain feedback, and robust adaptive controller of error sign integral Problems such as complex design and inability to guarantee parameter estimates

Inactive Publication Date: 2016-11-02
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0008] 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. A deterministic nonlinear system can only ensure that the tracking error is bounded. At the same time, the design of a robust adaptive controller based on the error sign integral is relatively complex and can only guarantee the semi-global asymptotic stability of the entire system and cannot guarantee parameter estimation in complex environments. For the problem that the value is always in a bounded area, an implementation method of nonlinear robust position controller for electro-hydraulic servo system based on discontinuous projection mapping is proposed

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  • Discontinuous projection mapping-based implementation method for nonlinear robust position controller of electro-hydraulic servo system
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  • Discontinuous projection mapping-based implementation method for nonlinear robust position controller of electro-hydraulic servo system

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[0086] 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.

[0087] 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.

[0088] combine Figure 1 to Figure 2 To illustrate this embodime...

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Abstract

The invention belongs to the field of electromechanical hydraulic servo control, and provides a discontinuous projection mapping-based implementation method for the nonlinear robust position controller of an electro-hydraulic servo system. The method considers the uncertainty of the parameters of the system and the uncertainty of the external interference to establish a nonlinear model of the system. Meanwhile, for the uncertainty of the parameters of the system, unknown parameters are estimated accurately according to the parameter adaptive algorithm designed based on discontinuous projection operators, so that the estimated values of parameters are always within a known region. By means of a 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 a controller, in particular to a method for realizing a nonlinear robust position controller of an electro-hydraulic servo system based on discontinuous projection mapping, and belongs to the field of electro-mechanical-hydraulic servo control. 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 pressu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 马大为杨贵超乐贵高
Owner NANJING UNIV OF SCI & TECH
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