A Backstepping Adaptive Control Method of Fin Stabilizer Hydraulic Servo Simulation Experiment Bench

An adaptive control and hydraulic servo technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problem of difficult to apply the hydraulic servo simulation test bench control system of the fin stabilizer, and achieve the reduction of nonlinear and The influence of interference factors and the effect of improving the accuracy of tracking control

Active Publication Date: 2021-10-08
HARBIN UNIV OF SCI & TECH
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Problems solved by technology

However, in practical applications, the more complex calculations and the particularity of the test bench make these strategies difficult to apply to the control system of the fin stabilizer hydraulic servo simulation test bench

Method used

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  • A Backstepping Adaptive Control Method of Fin Stabilizer Hydraulic Servo Simulation Experiment Bench
  • A Backstepping Adaptive Control Method of Fin Stabilizer Hydraulic Servo Simulation Experiment Bench
  • A Backstepping Adaptive Control Method of Fin Stabilizer Hydraulic Servo Simulation Experiment Bench

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Embodiment Construction

[0017] The present invention is described in detail below:

[0018] Such as figure 1 and 2 As shown, a backstepping adaptive control method of a fin stabilizer hydraulic servo simulation test bench of the present invention includes a mathematical model (1) of a fin stabilizer hydraulic servo simulation test bench (1), an adaptive parameter identifier (2), and a backstepping subsystem control Device 1(3), backstepping subsystem controller 2(4), backstepping subsystem controller 3(5), backstepping subsystem controller 4(6).

[0019] The control input u of the three-position four-way electro-hydraulic servo valve passes through the mathematical model of the fin stabilizer hydraulic servo simulation test bench (1) to generate the system output hydraulic cylinder piston displacement y and the system state variable x of the fin stabilizer hydraulic servo simulation test bench 1 、x 2 、x 3 and x 4 , the system state variable x of the fin stabilizer hydraulic servo simulation test...

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Abstract

The backstepping adaptive control method of the fin stabilizer hydraulic servo simulation test bench includes a mathematical model of the fin stabilizer hydraulic servo simulation test bench, an adaptive parameter identifier, a backstepping subsystem controller 1, a backstepping subsystem controller 2, and a backstepping subsystem control Device 3, backstepping subsystem controller 4. Through theoretical analysis and hardware-in-the-loop experimental verification, it can be obtained that in the output tracking of the hydraulic servo system of the fin stabilizer test bench, the backstepping adaptive controller has significantly better dynamic performance and static performance than the conventional PID controller, and the tracking error is relatively The ratio is reduced by 60%, which can effectively reduce the influence of nonlinearity and disturbance factors of the hydraulic system, improve the tracking control accuracy of the system, and meet the control requirements of the fin stabilizer simulation test bench.

Description

(1) Technical field [0001] The invention relates to the design of a control method for a ship fin stabilizer test bench, in particular to a backstep self-adaptive control method for a fin stabilizer hydraulic servo simulation test bench. (2) Background technology [0002] When a ship sails at sea, it will inevitably produce violent rolling motions due to external disturbances such as wind, waves, and currents. Usually, when designing the fin stabilizer, the simulation verification of the test bench must be carried out first, so the reliability and effectiveness of the test bench directly affect the accuracy of the fin stabilizer design verification. [0003] The fin stabilizer test bench is driven by a hydraulic servo system. The hydraulic system has the advantages of fast response and strong bearing capacity. Due to the strong nonlinearity of the hydraulic system itself, there are uncertainties such as internal parameters and external load interference. , which brings cert...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙明晓栾添添徐军
Owner HARBIN UNIV OF SCI & TECH
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