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Linear active-disturbance-rejection control method and device for electro-hydraulic position servo control system

An electro-hydraulic position servo and linear active disturbance rejection technology, which is applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problems of difficult to achieve high-performance control, reduce system stability margin, and control action lag. question

Active Publication Date: 2018-11-23
TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY +2
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  • Summary
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the error-based PID control strategy has the disadvantages of control action lag, easy to produce overshoot and oscillation, and reduces the stability margin of the system. It is difficult to apply it to the electro-hydraulic position servo system with high nonlinearity and dynamic uncertainty. Achieving high-performance control requirements

Method used

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  • Linear active-disturbance-rejection control method and device for electro-hydraulic position servo control system
  • Linear active-disturbance-rejection control method and device for electro-hydraulic position servo control system
  • Linear active-disturbance-rejection control method and device for electro-hydraulic position servo control system

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Embodiment 1

[0067] see figure 2 and image 3 , this embodiment provides a linear active disturbance rejection control method for an electro-hydraulic position servo control system. The electro-hydraulic position servo control system includes a proportional valve 4 and a hydraulic cylinder 6 . The proportional valve 4 controls the displacement of the piston of the hydraulic cylinder 6 according to the dynamic active compensation control law. The active compensation control law u is used for data processing, and the desired state feedback control law u′ is obtained, and u′ realizes the closed-loop negative feedback control of the electro-hydraulic position servo control system.

[0068] The linear active disturbance rejection control method in this embodiment includes the following steps.

[0069] (1) According to the mathematical model of the electro-hydraulic position servo system, the following state space equation of the linear extended state observer (LinearExtended State Observer, L...

Embodiment 2

[0093] This embodiment discloses a linear active disturbance rejection control method for an electro-hydraulic position servo control system, and the electro-hydraulic position servo control system includes a proportional valve, a hydraulic cylinder, and a controller.

[0094] The controller outputs a dynamic active compensation control law to the proportional valve, and the proportional valve controls the piston displacement of the hydraulic cylinder according to the dynamic active compensation control law. The linear active disturbance rejection control method performs data processing according to the current piston displacement y of the hydraulic cylinder and the current dynamic active compensation control law u output by the controller, and obtains the expected dynamic active compensation control law u' output by the controller, and u' realizes The closed-loop negative feedback control of the electro-hydraulic position servo system, the linear active disturbance rejection c...

Embodiment 3

[0120] see figure 2 and image 3 This embodiment provides a valve-controlled asymmetric cylinder electro-hydraulic position servo control system. The control system utilizes the linear active disturbance rejection control method of the electro-hydraulic position servo control system described in Embodiment 1 to achieve precision High performance, good stability and strong anti-interference ability.

[0121] A valve-controlled asymmetric cylinder electro-hydraulic position servo control system, which includes: a filter 1, a motor 2, a hydraulic pump 3, a proportional valve 4, an overflow valve 5, a hydraulic cylinder 6, a load 7, a displacement sensor 9, a linear automatic Anti-disturbance controller 8 , analog-to-digital converter 10 and digital-to-analog converter 11 .

[0122] The filter 1 is used to filter the hydraulic oil, and the oil inlet end of the hydraulic pump 3 communicates with the oil outlet end of the filter 1 . The motor 2 is connected with the hydraulic pu...

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Abstract

The invention discloses a linear active-disturbance-rejection control method and device for an electro-hydraulic position servo control system. The method comprises the steps: obtaining a dynamic active compensation control law at a next moment in a linear active-disturbance-rejection controller through an inputted current piston displacement quantity and a current dynamic active compensation control law via the joint effect of a tracking signal generator, a linear expansion state observer and a state feedback controller according to an electro-hydraulic position servo system mathematic model,and inputting the data into a proportional valve, and performing the above steps in a periodic manner, thereby achieving the real-time dynamic compensation for the total disturbance. The method is high in precision, is good in stability, is strong in anti-interference capability, solves a problem that the PID parameter setting is difficult, and avoids the impact on the performances of a control system from the nonlinearity and uncertainty.

Description

technical field [0001] The invention relates to the technical field of electro-hydraulic position servo control, in particular to a linear active disturbance rejection control method and device for an electro-hydraulic position servo control system. Background technique [0002] In the electro-hydraulic position tracking control system, there are valve dead zones, nonlinearities such as flow pressure, friction, and controller saturation, and the uncertainty of system internal parameters and loads, especially the structural asymmetry of the cylinder, will inevitably lead to positive, The negative travel open-loop gain and the asymmetry of the dynamic characteristics bring great challenges to the high-performance electro-hydraulic position servo control. Improving the anti-interference ability of the system and realizing the high precision and fast response of the electro-hydraulic position servo system have always been the goals pursued by engineering control. [0003] Many ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 金坤善宋建丽李永堂仉志强朱彦军
Owner TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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