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Electro-hydraulic servo system full state constraint control method based on extended state observer

An electro-hydraulic servo system, technology of expansion state, applied in the field of control

Active Publication Date: 2019-10-08
ANHUI UNIVERSITY OF TECHNOLOGY
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  • Application Information

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Problems solved by technology

In particular, adaptive robust control has been applied to a variety of engineering practices. Although they have achieved excellent tracking performance, this high-precision control performance may be achieved through a large feedback gain.

Method used

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  • Electro-hydraulic servo system full state constraint control method based on extended state observer
  • Electro-hydraulic servo system full state constraint control method based on extended state observer
  • Electro-hydraulic servo system full state constraint control method based on extended state observer

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Effect test

Embodiment

[0206] In the simulation, take the following parameters to model the system: m=40kg, A=2×10 -4 m 2 , B=80N·s / m, β e =200Mpa, V 01 =1×10 -3 m 3 ,V 02 =1×10 -3 m 3 ,C t =9×10 -12 m 5 / Ns,K t =4×10 -8 m 4 / (s·A·),P s =7Mpa,P r = 0 MPa. To verify the performance of the designed controller, the following two controllers were compared:

[0207] FSCESO: The extended state observer-based fully state-constrained controller (FSCESO) proposed in this chapter, the controller parameters are: k 1 =1000,k 2 =500,k 3 =200,ω 2 = 500, ω 3 =500,b 1 =30,b 2 =9, b 3 = 3, L 1 =0.5, L 2 =5,L 3 =80, [θ 1n ,θ 2n ,θ 3n ,θ 4n ] T =[133,21.7,1.09×10 6 ,8] T .

[0208] PI: Proportional-integral controller, which is also widely used in industrial systems, especially systems where only the position signal is known, and the controller parameter is k p =1500,k i =500.

[0209] The system command is x 1d =35arctan(sin(πt))[1-exp(-t)]+4mm, the effect of control law:

[021...

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Abstract

The invention provides an electro-hydraulic servo system full state constraint control method based on an extended state observer, which comprises the following steps: 1, a dual-rod hydraulic cylinderservo system model is built; 2, an electro-hydraulic servo system full state constraint controller based on the extended state observer is designed; and 3, control law-based parameters are adjusted to enable the system to meet the control performance index.

Description

technical field [0001] The invention relates to a control method, in particular to a full-state constraint control method of an electro-hydraulic servo system based on an extended state observer. Background technique [0002] The electro-hydraulic servo system has high control precision, large output power, flexible signal processing, and easy feedback of various parameters. Therefore, it is most suitable for occasions with large loads. It is not easy to design a high-performance controller for hydraulic servo systems. Because designers are likely to encounter a lot of model uncertainties, including unmodeled nonlinearities such as structural uncertainties (parameter uncertainties) and nonstructural uncertainties. These uncertainties may seriously deteriorate the control performance that can be achieved, resulting in low control accuracy, limit cycle oscillations, and even instability. For known nonlinearities, it can be dealt with by feedback linearization technique. How...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 徐张宝刘庆运胡晓磊孙船斌
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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