Adaptive Robust Force Control Method for Simplified Periodic Disturbance Compensation

A technology of disturbance compensation and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., which can solve problems such as model uncertainty, controller discontinuity, and high-gain feedback parameter estimation accuracy, and achieve Effects of improving accuracy and improving tracking performance

Active Publication Date: 2019-11-15
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0009] The purpose of the present invention is to solve the neglected model uncertainty in the existing electro-hydraulic servo system control, the discontinuity of the controller designed based on the traditional sliding mode control method, and the high Gain feedback phenomenon and poor parameter estimation accuracy, etc., a simplified adaptive robust force control method for periodic disturbance compensation is proposed

Method used

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  • Adaptive Robust Force Control Method for Simplified Periodic Disturbance Compensation
  • Adaptive Robust Force Control Method for Simplified Periodic Disturbance Compensation
  • Adaptive Robust Force Control Method for Simplified Periodic Disturbance Compensation

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Embodiment

[0105] 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,

[0106] Comparison of simulation results: the controller parameters designed by the present invention are selected as: k=1×10 5 , the adaptive law parameter is chosen as Γ θ =diag[3×10 -17 ,1×10 -14 ,1×10 -7 , 2×10 -7 ,1×10 -8 , 1×10 -15 ],

[0107] Γ ψ =diag[1×10 -8 ,1×10 -8 , 1×10 -8 ,1×10 -10 , 1×10 -10 ].

[0108] The estimation range of the system parameters is selected as:

[0109] θ min =[0.83×10 -11 ,2.63×10 -9 ,2.47×10 -4 , 3.34×10 -8 ,2.63×10 -7 , 0.083×10 -8 ] T ,

[0110] θ max =[03.34×10 -11 ,10.52×10 -9 ,9.9×10 -4 , 13.4×10 -8 ,10.52×10 -7 , 0.334×10 -8 ] T ,

[0111] ψ min =[-10,-50,-50,-50,-50] T , ψ max =[10,50,50,50,50] T .

[0112] The time-varying exte...

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Abstract

The invention discloses an adaptive robust force control method of simplified periodic disturbance compensation, and belongs to the field of electro-hydraulic servo control. The control method comprises the following steps: building a mathematical model of a load simulator; determining the adaptive rate of the parameters of the load simulator; and designing an adaptive robust force controller of simplified periodic disturbance compensation. The parameter uncertainty of the system and the uncertainty nonlinearity of external disturbance are considered in the method. In view of parameter uncertainty, a continuous projection function is used in estimation to ensure that the estimated value is within the range of parameter uncertainty. The method has the advantage of accurate parameter estimation. By using a fast dynamic compensation method, the defect that the output tracking performance is poor in adapting is overcome. A good simulation result is obtained in terms of both parameter estimation and tracking error. The nonlinear robust controller designed in the invention has continuous control voltage, and can be easily applied to practical engineering.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to a simplified self-adaptive robust force control method for periodic disturbance compensation. 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. As in the accompanying drawings figure 1 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...

Claims

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Application Information

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