Internal model control method, system and readable storage medium of asymmetric electro-hydraulic servo system based on neural network model switching

Abstract

The invention discloses an internal model control method, system and readable storage medium of an asymmetric electro-hydraulic servo system based on neural network model switching, and proposes a neural network inverse system method to transform a nonlinear and asymmetrical system into a linear system, realizing the The control problem of nonlinear system is transformed into the control problem of linear system. In view of the fact that there are two flow states of the servo valve when the opening is different, in order to improve the accuracy of the inverse system model, the inverse system is solved through the neural network for the small opening state and the large opening state respectively, and the principle of switching between the small opening and the large opening is realized by using the principle of switching based on the reference speed. The opening state model is switched, and the second-order pseudo-linear system is formed by connecting the inverse system model and the original system model in series. And for the neural network to solve the inverse model, there is a certain error problem, and the internal model control strategy is adopted for the pseudo-linear system, which eliminates the influence of the servo valve negative overlapping amount on the accuracy, eliminates the asymmetric response characteristics of the system, and realizes the asymmetric electro-hydraulic High-precision control of the servo system.

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 precision. In addition, the change of the internal flow state of the servo valv...

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