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Backstepping control method of load simulator based on expansion state observer

A technology of load simulator and expansion state, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of limited controller performance, model uncertainty, poor estimation accuracy of high-gain feedback parameters, etc. Achieve the effect of reducing impact, improving accuracy, and not easy to sample interference and noise

Active Publication Date: 2019-03-05
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0009] The object of the present invention is to provide a load simulator backstepping control method based on an extended state observer, to solve the neglected model uncertainty in the existing load simulator first-order model, based on traditional adaptive robust / slip The performance of the controller designed by the modular control method is limited, and the general adaptive robust control method has the problems of high gain feedback and poor parameter estimation accuracy.

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  • Backstepping control method of load simulator based on expansion state observer
  • Backstepping control method of load simulator based on expansion state observer
  • Backstepping control method of load simulator based on expansion state observer

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Embodiment

[0111] The parameters of the dual vane hydraulic motor force control load simulator are:

[0112] D. L =9×10 -4 m 3 / rad,J L =0.32kg·m 2 , B=4000N·m·s / rad, β e =7×10 8 Pa,

[0113] 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 ,

[0114] K t =9×10 -12 m 3 / s / Pa,

[0115] Comparison of simulation results: The parameters of the controller designed in this paper are selected as: w 0 = 0.15.

[0116] The trajectory of the selected system is The expected trajectory of the system is The tracked torque command is a curve

[0117] figure 2 is the given tracking torque command curve of the present invention.

[0118] image 3 It is the curve of the system tracking error changing with time. It can be seen that the tracking error is bounded and stable. Although the vibration is relatively severe, its amplitude is very small compared to the amplitude of the command.

[0119] Figure 4 It is the curve of the control input of...

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Abstract

The invention discloses a backstepping control method of a load simulator based on an expansion state observer, and belongs to the field of electro-hydraulic server control. According to the control method, nonlinearity including parameter nondeterminacy of a system and external interference are taken into consideration, a third-order model of the load simulator is established concretely, uncertain nonlinearity of the external interference and the like is estimated based on the expansion state observer, a continuous backstepping controller is designed, and a bounded stable theoretical result is obtained. The method has the advantage of accurate parameter estimation, a rapid dynamic compensation method is used to overcome the defect of relatively low output tracking performance in adaption,and a better simulation result can be obtained in the aspects of parameter estimation and error tracking; and a designed nonlinear controller is continuous in the control voltage and can be applied in engineering practicality.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to a load simulator backstep control method based on an expansion state observer. 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. Such as 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 the different loading actuators, load ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 姚建勇罗成洋
Owner NANJING UNIV OF SCI & TECH
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