Asymmetric electro-hydraulic servo system internal model control method based on neural network model switching, system and readable storage medium

Abstract

The invention discloses an asymmetric electro-hydraulic servo system internal model control method based on neural network model switching, system and a readable storage medium. A neural network inverse system method is put forward to convert a nonlinear and asymmetric system into a linear system, so as to convert a nonlinear system control problem into a linear system control problem. In view oftwo flow states existing when openings of a servo valve are different, in order to improve the precision of an inverse system model, an inverse system is solved for a small-opening state and a large-opening state through a neural network, switching of the small-opening state model and the large-opening state model is achieved based on the principle of reference speed switching, and a second-orderpseudo-linear system is formed through series connection of the inverse system model and an original system model. Aiming at the problem that a neural network solution inverse model has a certain error, an internal model control strategy is adopted for the pseudo-linear system, so that the influence of the negative superposition amount of the servo valve on the precision is eliminated, the asymmetric response characteristic of the system is eliminated, and the high-precision control of the asymmetric electro-hydraulic servo system is realized.

Description

technical field [0001] The invention belongs to the technical field of machinery and electronics, and in particular relates to an internal model control method, system and readable storage medium of an asymmetric electro-hydraulic servo system based on neural network model switching. Background technique [0002] In order to improve the response performance of the valve-controlled asymmetric cylinder system and eliminate the asymmetric response caused by load and structure, scholars design a differential pressure compensation control strategy, which can reduce the influence of load disturbance to a certain extent, improve the control accuracy of the system, and the method is simple to implement. The processing error of the shoulder of the servo valve port leads to different degrees of negative overlap in the servo valve, which has a certain impact on the system control performance, especially the accuracy. In addition, the change of the internal flow state of the servo valve...

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