A Multi-model Robust Adaptive Control Method for Electro-hydraulic Position Servo System

An electro-hydraulic position servo and robust self-adaptive technology, which is applied in the direction of self-adaptive control, general control system, control/regulation system, etc., and can solve problems such as system influence

Active Publication Date: 2021-01-26
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, like traditional self-adaptation, when there are uncertain nonlinearities such as external disturbances, it will affect the system

Method used

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  • A Multi-model Robust Adaptive Control Method for Electro-hydraulic Position Servo System
  • A Multi-model Robust Adaptive Control Method for Electro-hydraulic Position Servo System
  • A Multi-model Robust Adaptive Control Method for Electro-hydraulic Position Servo System

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0226] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the electro-hydraulic position servo system:

[0227] The load mass m=30kg, the annular working area A of the inner chamber of the hydraulic cylinder=9.05×10 -4 m 2 , the total volume of the hydraulic cylinder V t =7.96×10 -5 m 3 , the effective oil elastic modulus β e =200MPa, internal leakage coefficient C t =1×10 -12 m 5 / (N s), viscous friction coefficient B=4000N s / m, total flow gain Oil supply pressure P s =10MPa, oil return pressure P r =0.08MPa, pressure dynamic modeling error q(t)=2×10 -7 m 3 / (s / m), external load disturbance f(t)=500sint(N·m).

[0228] Multi-model Robust Adaptive Controller (MMRAC): Take the controller parameter λ 1 =1000,λ 2 =500,λ 3 =200,k 1 =1000,k 2 =200,k 3 = 10, θ pmin =[-3.5×10 6 ,-2750,2,-200] T , θ pmax =[-6.5×10 4 ,100,200] T , in this simulation test, five identification models were es...

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Abstract

The invention discloses a multi-model robust adaptive control method for an electro-hydraulic position servo system, comprising the following steps: establishing a mathematical model and an identification model of the electro-hydraulic position servo system; designing a corresponding controller based on the identification model; designing a switching strategy; Performance and stability analysis of a multi-model robust adaptive controller. The invention integrates multi-model adaptive control and robust control, designs nonlinear robust items in the identification model, solves the problem of poor transient response of traditional self-adaptation under strong parameter uncertainty, and enhances traditional multi-model Model adaptation is robust to uncertain nonlinearities such as external disturbances, and finally obtains good steady-state tracking performance and better transient performance.

Description

technical field [0001] The invention relates to the technical field of electro-hydraulic servo control, in particular to a multi-model robust adaptive control method for an electro-hydraulic position servo system. Background technique [0002] Due to the advantages of fast dynamic response, small size, large output force / torque, and high control accuracy, the electro-hydraulic servo system has been widely used in national defense, aerospace, and civil fields. Electrohydraulic servo system is a typical nonlinear system, including various modeling uncertainties and nonlinear characteristics. Among them, nonlinear characteristics mainly include friction nonlinearity and servo valve flow pressure nonlinearity, etc. Modeling uncertainty mainly includes parameter uncertainty and uncertainty nonlinearity, parameter uncertainty mainly includes servo valve flow gain, leakage coefficient , the viscous friction coefficient of the actuator, the elastic modulus of the hydraulic oil, etc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 姚建勇成旭华吴昊
Owner NANJING UNIV OF SCI & TECH
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