Output feedback control method of electro-hydraulic load simulation device
A technology for simulating devices and electro-hydraulic loads, applied in adaptive control, general control systems, control/regulation systems, etc., and can solve problems such as model uncertainty, parameter estimation unaffected, and controller discontinuity.
Active Publication Date: 2016-11-23
NANJING UNIV OF SCI & TECH
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[0005] The purpose of the present invention is to provide an output feedback control method of an electro-hydraulic load simulator, which solves the neglected model uncertainty in the existing electro-hydraulic load simulator and is designed based on a traditional sliding mode control method For problems such as discontinuity, based on the traditional adaptive control method, by cleverly designing the nonlinear robust control law, the parameter estimation of the system is not affected when there are both parameter uncertainties and uncertain nonlinearities, and the enhanced The robustness of traditional adaptive control to external load disturbances and other uncertain nonlinearities achieves better tracking performance
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[0218] The parameters of the electro-hydraulic load simulator are:
[0219] A=2×10 -4 m 3 / 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 =5×10 -4 , a 2 =3.5×10-4 ,a 3 =80N·m·s / rad c 1 =15,c 2 =1.5,c 3 =900.
[0220] The controller parameters are selected as: feedback gain K=k+k m = 100, adaptive gain Г = diag{7.26×10 -5 ,1×10 11 ,3×10 -11 ,5×10 -4 ,2×10 -4 , 30}, ω 0 =50, the sampling time of simulation is 0.2ms. The time-varying external disturbance of the system is selected as d=300sint, and the trajectory is The force command that the system expects to track is a curve The parameters of the PID controller are selected as: k p =270,k i =0.06,k d =0.
[0221] The effect of the control law:
[0222] image 3 It is a graph of the system control input u changing with time under the action of the controller in the embodiment. It can be seen from the figure that the o...
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The invention discloses an output feedback control method of an electro-hydraulic load simulation device. Aiming at system characteristics of the electro-hydraulic load simulation device, a system non-linear mathematical model containing a continuous differentiable friction model is established by analyzing friction characteristics of a system through friction identification; uncertainties including external interferences and the like are estimated through an extended state observer, and are compensated in the design of a controller, so that the robustness of the actual electro-hydraulic load simulation device on external interferences is improved; the problems of high-frequency dynamic state, measurement noises and the like, caused by high gain feedback, are extremely relieved, so that the tracking property of the system is improved and the application in actual engineering is facilitated better.
Description
technical field [0001] The invention belongs to the field of electro-hydraulic servo control, and in particular relates to an output feedback control method of an electro-hydraulic load simulation device. Background technique [0002] The electro-hydraulic servo control system is a relatively new emerging science and technology developed on the basis of electronics, hydraulic transmission, and automatic control technology. Disciplinary, occupies an important position in the field of automation. The electro-hydraulic servo system has the advantages of fast response, large power-to-weight ratio, and high load-resistant rigidity. It has been widely used in control fields that require high power, fast, and precise response, such as: aircraft control systems and missile automatic control systems. , artillery control system, radar tracking system, ship steering gear and other national defense fields, as well as civilian fields such as machine tools, smelting, steel rolling, casti...
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IPC IPC(8): G05B13/04
Inventor 岳欣姚建勇
Owner NANJING UNIV OF SCI & TECH