Expectation Compensation Adaptive Robust Force Control Method for Periodic Disturbances

A control method and self-adaptive technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve problems such as high gain feedback, poor parameter estimation accuracy, uncertainty, etc., to improve tracking performance and improve The effect of accuracy

Active Publication Date: 2019-06-21
NANJING UNIV OF SCI & TECH
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  • Application Information

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Problems solved by technology

[0009] The present invention solves the neglected model uncertainty in the control of the existing electro-hydraulic servo system, the discontinuity of the controller designed based on the traditional sliding mode control method, and the high gain feedback based on the general adaptive robust control method Phenomena and the problem of poor parameter estimation accuracy A novel expectation-compensated adaptive robust force control method for periodic disturbances is proposed

Method used

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  • Expectation Compensation Adaptive Robust Force Control Method for Periodic Disturbances
  • Expectation Compensation Adaptive Robust Force Control Method for Periodic Disturbances
  • Expectation Compensation Adaptive Robust Force Control Method for Periodic Disturbances

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Embodiment

[0097] The parameters of the dual-vane hydraulic motor force control load simulator are: A=9×10- 4 m 3 / rad, B=4000N m s / rad, β e =7×10 8 Pa, C t =9×10- 12 m 5 / (N·s), P s =10×10 6 Pa, P r = 0 Pa, V t =8×10- 5 m 3 , K t =9×10-12 m 3 / s / Pa,A f =100,

[0098] Comparison of simulation results: The parameters of the controller designed in this paper are selected as: k=1×10 4 , the adaptive law parameter is chosen as Γ θ =dia g [1×10 -12 ,1×10 -9 ,0.1,1×10 -4 ,4×10 -5 , 4×10 -8 ], Γ ψ =diag[1×10 -2 ,1×10 -4 , 1×10 -4 ,1×10 -4 , 1×10 -4 ], β θ =diag[3.5×10 8 ,100,1×10 -6 ,175,0,1.8×10 5 ], β ψ =diag[0,0,0,300,0].

[0099] The estimation range of system parameters is selected as: θ min =[0,1.66×10- 4 ,15.67, 2.1×10- 3 ,0.016,0.529×10- 4 ] T , θ max =[2.12×10 -6 ,6.66×10 -4 ,32.66,8.46×10 -3 ,0.066, ,2.12×10 -4 ] T , ψ min =[-10,-50,-50,-50,-50] T , ψ max =[10,50,50,50,50] T .

[0100] The time-varying external disturbance of the ...

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Abstract

The invention discloses an expect compensation type adaptive robust force control method for periodic interference, and belongs to the field of electro-hydraulic servo control. The method comprises the following steps: building a mathematical model of a load simulator; determining an adaptive rate of a parameter of the load simulator; designing a controller for the expect compensation type adaptive robust force control method for the periodic interference. The expect compensation type adaptive robust force control method for periodic interference can estimate the parameter accurately; by adoption of a quick and dynamic compensation method, the shortcoming of relatively low output tracking property during adaptation is overcome, and the relatively good simulation effect can be achieved on both parameter estimation and a tracking error. The control voltage of a nonlinear robust controller designed by the method is continuous, so that the nonlinear robust controller can be applied to engineering practice favorably.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to an expectation compensation type self-adaptive robust force control method for periodic disturbance. Background technique [0002] The load simulator is used to simulate the aerodynamic moment on the rudder surface of the aircraft and other moving objects during flight and movement. It is one of the important ground simulation equipment for missile and other weapon systems. The load simulator is also called the force / torque servo loading system, which belongs to the category of force / torque servo control system and has a structure similar to that of the ordinary force / torque servo system. like figure 2 As shown, a general load simulator mainly includes a servo controller, an actuator, and a detection element, etc., the core of which is the servo controller, and the expected output of the system is the loading force / torque. [0003] According to the different loadi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 罗成洋姚建勇
Owner NANJING UNIV OF SCI & TECH
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