A Tracking and Synchronization Control Method for Multiple Electro-hydraulic Servo Actuators Based on Backstepping Control
An electro-hydraulic servo and backstep control technology, which is applied in the direction of servo motor, servo meter circuit, program control manipulator, etc., can solve the problem of lack of coordinated control of multiple asymmetric hydraulic cylinder actuators, and achieve improved dynamic tracking performance and coordination effect of ability
Inactive Publication Date: 2020-07-31
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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[0004] With the increasing application of electro-hydraulic servo systems in the engineering field, the requirements for large-scale equipment for load capacity continue to increase, and the demand for multiple electro-hydraulic servo systems to jointly drive is increasing; while most of the existing research focuses on a single electro-hydraulic servo Actuators, but lack of research on the cooperative control of multiple asymmetric hydraulic cylinder actuators
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[0052] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0053] like figure 1 As shown, it is a schematic flow chart of the tracking synchronization control method of multiple electro-hydraulic servo actuators based on backstepping control of the present invention; a tracking synchronization control method of multiple electro-hydraulic servo actuators based on backstepping control includes the following steps:
[0054] S1. Establish a multi-electrohydraulic servo actuator mathematical model and convert it into a strict feedback mathematical model with uncertain items;
[0055] S2. Drive the electro-hydraulic servo mechanism to obtain the feedback data o...
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The invention discloses a multi-electro-hydraulic servo actuator tracking synchronization control method based on backstepping control. The method includes converting the mathematical model of the multi-electro-hydraulic servo actuator into a strict feedback mathematical model with Mechanism feedback data, design multi-electro-hydraulic servo actuator distributed tracking synchronization protocol, use high-gain uncertain item observer to estimate the uncertain item, determine the backstepping control law, and use the backstepping control law to control the asymmetric electro-hydraulic servo Mechanisms are driven in real time. The present invention designs a distributed tracking synchronization protocol based on neighborhood information, establishes a high-gain uncertain term observer to estimate uncertain terms composed of hydraulic parameter uncertainty and unknown external load interference, and realizes the coordination of multiple electro-hydraulic servo systems Control, the output of which can track the desired displacement command, improves the dynamic tracking performance and coordination ability of multiple electro-hydraulic servo systems.
Description
technical field [0001] The invention belongs to the technical field of cooperative control of a plurality of asymmetric hydraulic cylinder actuators, and in particular relates to a tracking synchronization control method of a plurality of electro-hydraulic servo actuators under the condition of simultaneous hydraulic parameter uncertainty and unknown external load interference. Background technique [0002] The electro-hydraulic servo system refers to a hydraulic control system with servo components (servo valves or servo pumps) as the control core, mainly composed of electrical signal processing devices and hydraulic power mechanisms. The components of a typical electro-hydraulic servo system are as follows: (1) Given components. It can be a mechanical device, such as a cam, a connecting rod, etc., that provides a displacement signal; it can also be an electrical component, such as a potentiometer, that provides a voltage signal; (2) a feedback detection component. It is u...
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IPC IPC(8): F15B21/08F15B11/22B25J9/14
CPCB25J9/144F15B11/22F15B21/087F15B2211/20515F15B2211/20538F15B2211/6309F15B2211/6313
Inventor 郭庆郭帆蒋丹石岩许猛李小钗严尧
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA