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Full-state constrained control method for electro-hydraulic servo system based on extended state observer

An electro-hydraulic servo system and expansion state technology, applied in the field of control, to simplify the design of the controller, solve uncertain nonlinear problems, and reduce the effect of feedback gain

Active Publication Date: 2022-06-07
ANHUI UNIVERSITY OF TECHNOLOGY
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  • Claims
  • 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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  • Full-state constrained control method for electro-hydraulic servo system based on extended state observer
  • Full-state constrained control method for electro-hydraulic servo system based on extended state observer
  • Full-state constrained control method for electro-hydraulic servo system based on extended state observer

Examples

Experimental program
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Embodiment

[0206] In the simulation, the following parameters are taken 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 =0Mpa. To verify the performance of the designed controller, the following two controllers were compared:

[0207] FSCESO: The full state constrained controller (FSCESO) based on extended state observer 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, the controller parameter is k p =1500,k i =500.

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

[0210] ...

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Abstract

The invention provides a full-state constrained control method of an electro-hydraulic servo system based on an expanded state observer, comprising the following steps: step 1, establishing a servo system model of a double-rod hydraulic cylinder; step 2, designing an electro-hydraulic servo system based on an expanded state observer. A full-state constrained controller for the hydraulic servo system; step 3, adjust the parameters based on the control law to make the system 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 expanded state observer. Background technique [0002] The electro-hydraulic servo system has high control accuracy, high output power, flexible signal processing, and is easy to realize the feedback of various parameters. Therefore, it is most suitable for occasions with large load mass, and its application has been in various fields of national defense and industry. Designing high-performance controllers for hydraulic servo systems is not easy. Because designers are likely to encounter many model uncertainties, including unmodeled nonlinearities such as structural uncertainty (parametric uncertainty) and non-structural uncertainty. These uncertain factors can seriously deteriorate the achievable control performance, resulting in low control accuracy, limit cycle oscillations, and even instability. For k...

Claims

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Application Information

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Patent Type & Authority Patents(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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