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Hydraulic system adaptive robust control method based on consistent-robustness accurate differentiator

An adaptive robust, hydraulic system technology, applied in the field of control, which can solve problems such as parameter determinism, uncertainty, nonlinearity, etc.

Active Publication Date: 2016-11-09
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0006] In order to solve the problem of parameter determinism and uncertain nonlinearity in the electro-hydraulic servo servo system, the present invention further proposes a hydraulic system adaptive robust control method based on a consistent robust precise differentiator

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  • Hydraulic system adaptive robust control method based on consistent-robustness accurate differentiator
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Embodiment

[0234] This paper proposes an Adaptive Robust Controller Based on Virtual Control Compensation (ARCURED). The system parameters are: m=30kg, A=9.05×10 -4 m 2 ,V t =7.96×10 -5 m 3 ,P s =10Mpa,P r = 0.08 MPa. Select the parameter uncertainty range as θ min =[0.1,0.1,1×10 5 ,0.1,-1×10 5 ] T , θ max =[300,100,1×10 7 ,1000,1×10 5 ] T , the initial value of the given parameter estimate is with ε θ =[0.2, 10, 1, 3, 1] T , ε 2 = 1, ε 3 =1, the adaptation gain is Г=diag{3×10 -6 ,700,0.006,13,0.08}, controller design parameter k 1 =1200,k 2 =700,k 3 =200,b 1 = 3,b 2 = 3,c 1 = 1,c 2 =1. Position angle input signal x 1d =40arctan(sin(0.4πt))[1-exp(-t)](mm). In order to verify the effectiveness of the control strategy proposed in this paper, an adaptive robust controller (ARC) is introduced for comparison. The parameters of the adaptive robust controller are consistent with those of the controller designed in this paper.

[0235] The effect of the control l...

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Abstract

The invention provides a hydraulic system adaptive robust control method based on a consistent-robustness accurate differentiator. The method is characterized by comprising the following steps of 1, establishing a position servo system model for a hydraulic cylinder with two outlet rods; 2, designing a hydraulic system adaptive robust controller based on a consistent-robustness accurate differentiator; 3, adjusting the parameters of the controller to meet the control performance indexes.

Description

technical field [0001] The invention relates to a control method, in particular to an adaptive robust control method of a hydraulic system based on a consistent robust precise differentiator. Background technique [0002] Hydraulic systems are widely used in industry due to their advantages of high response, large output force and small size. However, severe nonlinear behavior, such as control input saturation, valve opening, nonlinear friction, model uncertainties (load changes, changes in hydraulic parameters (such as bulk moduli) and component wear causes parameter uncertainties and contains Uncertain nonlinearity of external disturbances, leakage, etc.), these factors make it difficult for designers to develop high-performance closed-loop controllers. [0003] In order to reduce the influence of uncertain nonlinearity on physical systems, robust control, as a main method, is applied to many control objects. These robust controllers guarantee specified output tracking t...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 朱忠领徐张宝
Owner NANJING UNIV OF SCI & TECH
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