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Cooperative control method of position and force signals of electro-hydraulic servo system

An electro-hydraulic servo system and cooperative control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as being easily affected by the external environment and complicated processes, and improve self-learning ability and expression Ability of knowledge, effect of increasing restraint, effect of increasing load capacity

Pending Publication Date: 2017-08-04
HARBIN UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

At present, the commonly used method is to detect the position signal and the force signal through various complex sensors, and to construct the relationship between the position signal and the force signal through software processing feedback data to coordinate the control of the position signal and the force signal, although the effect is also very good. However, the process is also relatively complex and is easily affected by the external environment.

Method used

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  • Cooperative control method of position and force signals of electro-hydraulic servo system
  • Cooperative control method of position and force signals of electro-hydraulic servo system
  • Cooperative control method of position and force signals of electro-hydraulic servo system

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Embodiment Construction

[0052] Step 1. Design the Discrete PID Controller

[0053] In this paper, the discrete PID controller is used for control in the position control part. PID control refers to the linear combination of proportional, integral and differential control to obtain a controller. It is suitable for control objects that cannot fully grasp the system structural parameters or cannot obtain accurate mathematical models. It is the most widely used in engineering practice. It is characterized by simple structure, good stability and reliable operation; the structure of PID controller is as follows: figure 1 shown.

[0054] The theoretical structure of the discrete PID controller is as follows:

[0055]

[0056] In the formula, T is the sampling period. K P is a proportionality factor. K I is the integral coefficient. K D differential coefficient. T I is the integration time constant. T D is the differential time constant. No. k The relationship between the sampling period de...

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Abstract

The invention belongs to the field of control of an electro-hydraulic servo system, and relates to a force / position cooperative control method of an electro-hydraulic servo system. In the implementing process of the method, a position output signal and a force output signal of a valve control cylinder of the electro-hydraulic servo system in a work process are analyzed, outer-loop control of force is additionally provided as feedforward compensation based on position control, a PID controller and an adaptive fuzzy neural network controller are designed to respectively and individually control a position control portion and a force control portion, and cooperative control of the position signal and the force signal of the electro-hydraulic servo system is finally realized. The object of the invention is to reduce the vibration and the impact in the work process of the electro-hydraulic servo system due to stress and improve the positioning precision and stability of the system. The method includes steps: the position control portion measures the position output signal of the valve control cylinder through a displacement sensor and feeds back the position output signal to a position signal input portion, the position output signal is compared with an input signal, and a position error signal is obtained; the force control portion measures the force output signal of the valve control cylinder through a force transducer and feeds back the force output signal to a force input portion, the force output signal is compared with a force input signal, and a corresponding force error signal is obtained; and finally the error signal of the position control portion and the error signal of the force control portion are added (namely the force error signal is regarded as feedforward compensation) as a position expected input error signal of the whole valve control cylinder, the valve control cylinder dynamically adjusts the position signal and the force signal of the valve control cylinder by employing incremental control, and cooperative control of the position and the force of the electro-hydraulic servo system is finally accomplished.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo system control, and relates to a method for synergistic control of force signals and position signals of the electro-hydraulic servo system. Background technique [0002] During the working process of the electro-hydraulic servo system, not only will there be changes in position and posture, but also contact force will be generated with the outside world. At the same time, the working environment will also be affected by vibration and shock generated by the outside world and nonlinear factors of the system. In view of this, the purpose of this study is to improve the load capacity and positioning accuracy of the electro-hydraulic servo system by studying the collaborative control of the force and position of the electro-hydraulic servo system, realize the coordinated control of the position signal and the force signal, and meet the requirements of production practice. need. [0003] There a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 高炳微王伟王思凯
Owner HARBIN UNIV OF SCI & TECH
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