Cascade electro-hydraulic servo system control method and system based on coupling disturbance observer

Abstract

The invention discloses a cascade electro-hydraulic servo system control method and system based on a coupling disturbance observer. High-dynamic external load disturbance exists in a hydraulic control system and is relevant to movement of a plurality of mechanisms of cascade mechatronic objects, and a backstepping control method based on the coupling disturbance observer is adopted to improve the dynamic control performance of electro-hydraulic servo for controlling and driving a cascade mechanical arm under the external load disturbance condition. Load disturbance in an electro-hydraulic servo system is subjected to on-line estimation through the coupling disturbance observer, and then position trailing of the cascade mechanical arm is achieved by designing a backstepping control law. Due to the fact that a disturbance estimated value exists in the backstepping control law, and disturbance is compensated in real time, controlled quantity deterioration is restrained to a certain extent, and the dynamic control performance to the joint movement of the cascade mechanical arm is improved.

Description

technical field [0001] The invention relates to a control method applicable to a cascaded electro-hydraulic servo system, in particular to a cascaded electro-hydraulic servo driving electromechanical objects such as a multi-degree-of-freedom mechanical arm and a lifting device. Background technique [0002] At present, the control actuators used in electromechanical objects such as multi-degree-of-freedom manipulators and multi-joint robots are generally electro-hydraulic servo actuators, because they can output high control force and torque. The most common drive mode for electromechanical objects is full drive mode. In the full-drive mode, the joint load is generally considered as an interference quantity, and it does not need to be measured or estimated. The joint tracking control algorithm does not include the estimated value of the joint load, which will cause large dynamic loads to interfere with joint motion tracking. The dynamic response performance is greatly affec...

AI Technical Summary

Problems solved by technology

In the full-drive mode, the joint load is generally considered as an interference quantity, and it does not need to be measured or estimated. The joint tracking control algorithm does not include the estimated value of the joint load, which will cause large dynamic loads to interfere with joint motion tracking. The dynamic response performance is greatly affected, and the control accuracy is reduced

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