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

An electro-hydraulic servo system and electro-hydraulic servo technology are applied in the direction of fluid pressure actuation system components, instruments, and electrical digital data processing, etc., which can solve the problems of reduced control accuracy and great influence on the dynamic response performance of joint motion tracking.

Inactive Publication Date: 2017-11-17
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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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

Method used

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  • A cascaded electro-hydraulic servo system control method and system based on coupling disturbance observer
  • A cascaded electro-hydraulic servo system control method and system based on coupling disturbance observer
  • A cascaded electro-hydraulic servo system control method and system based on coupling disturbance observer

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Embodiment Construction

[0039] The following provides a specific real-time method of the electro-hydraulic servo-driven cascaded mechanical arm mechanism based on the coupling disturbance observer and the backstepping control method of the present invention.

[0040] The model of the electro-hydraulic servo actuator is a 4th-order model. The model of the mechanical arm mechanism movement is not considered. The joint torque required for the mechanical arm movement is considered as the load disturbance of the electro-hydraulic servo actuator. The brief description is as follows:

[0041] 1) Modeling of electro-hydraulic servo actuator

[0042] A fourth-order model is used to describe the electro-hydraulic servo actuator model of the hydraulic cylinder circuit driven by the servo valve as follows:

[0043]

[0044] i=1,...n

[0045] in is the fourth-order model state variable of the i-th cascaded electro-hydraulic servo actuator, y i is the output displacement of the i-th hydraulic cylinder, is...

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Abstract

The invention discloses a cascaded electro-hydraulic servo system control method based on a coupling disturbance observer. The high dynamic external load disturbance in the hydraulic control system is related to the movement of multiple mechanisms of cascaded electromechanical objects. The present invention adopts A backstepping control method based on coupled disturbance observer is used to improve the dynamic control performance of electro-hydraulic servo control-driven cascaded manipulators under the condition of external load disturbance. The load disturbance in the electro-hydraulic servo system is estimated online using a coupled disturbance observer, and then the backstepping control law is designed to realize the position tracking of the cascaded manipulator. Since the backstepping control law contains the disturbance estimation value, the disturbance is compensated in real time, the deterioration of the control quantity is suppressed to a certain extent, and the dynamic control performance of the cascaded manipulator joint motion 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F15B21/02G06F17/50
CPCF15B21/02G06F30/00
Inventor 郭庆蒋丹郭连忠王强尹静敏孙萍
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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