Distributed cooperative control method for multiple electro-hydraulic servo actuators under load interference condition
An electro-hydraulic servo and collaborative control technology, applied in complex mathematical operations, fluid pressure actuation devices, fluid pressure actuation system components, etc. Tracking the effects of coordination
Inactive Publication Date: 2019-08-09
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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[0044] 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.
[0045] Such as figure 1 As shown, it is a schematic flow chart of the distributed cooperative control method of multiple electro-hydraulic servo actuators in the presence of load interference of the present invention; a distributed cooperative control method of multiple electro-hydraulic servo actuators in the presence of load interference includes the following steps:
[0046] S1. Establish multiple nonlinear models of asymmetric electro-hydraulic servo actuators, and perform linearization processing to obtain linear models;
[0047] S2. Drive the electro-hydraulic servo mechanism to obtain the f...
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The invention discloses a distributed cooperative control method for multiple electro-hydraulic servo actuators under load interference condition. The method comprises the steps of establishing a plurality of non-linear models of the asymmetric electro-hydraulic servo actuators, carrying out linearization processing, acquiring feedback data of electro-hydraulic servo systems in real time, designing a distributed consistency protocol, estimating unknown external load interference of the system by adopting a disturbance observer, calculating stable LMI conditions of the system, and driving an asymmetric electro-hydraulic servo mechanism in real time according to the distributed consistency control law. According to the method, the distributed consistency protocol is designed based on neighborhood information, the disturbance observer is established to estimate unknown load interference, distributed consistency cooperative control of the plurality of electro-hydraulic servo actuators is achieved, and tracking coordination capability of the plurality of electro-hydraulic servo systems is improved.
Description
technical field [0001] The invention belongs to the technical field of coordinated control of a plurality of asymmetric hydraulic cylinder actuators, and in particular relates to a distribution coordinated control method of a plurality of electro-hydraulic servo actuators under the condition of 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 used to detect the actual output of the actuator a...
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IPC IPC(8): F15B21/08G06F17/16
CPCF15B21/08G06F17/16
Inventor 郭庆李小钗蒋丹石岩许猛郭帆严尧
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA