Adaptive state-constrained control method for electro-hydraulic servo system based on disturbance compensation

Abstract

The invention discloses an adaptive state constraint control method of an electro-hydraulic servo system based on interference compensation in the technical field of electro-hydraulic servo control. The invention aims at the characteristics of a valve-controlled double-rod hydraulic cylinder position servo system and establishes a valve-controlled double-rod hydraulic cylinder position servo system. The position servo system model of the rod hydraulic cylinder; the designed adaptive constraint controller of the electro-hydraulic servo system based on disturbance compensation can estimate the system disturbance and use it in the controller design, which can effectively solve the uncertain nonlinear problem of the electro-hydraulic servo system, greatly The feedback gain of the system is reduced, and the adaptive controller is used to approximate the system parameters, which greatly weakens the influence of parameter uncertainty on the system. Considering the system state constraints, the state of the system is controlled by the design of the obstacle Lyapunov function The constraints are ensured to ensure that the position output of the double-rod hydraulic cylinder servo system can accurately track the desired position command; the invention simplifies the design of the controller and is more conducive to the application in engineering practice.

Description

Adaptive state constraint control method for electro-hydraulic servo system based on disturbance compensation technical field The present invention relates to electro-hydraulic servo control technical field, be specifically a kind of electro-hydraulic servo system automatic system based on interference compensation. Adaptive state constraint control method. Background technique Electro-hydraulic servo system has high control precision, large output power, flexible signal processing, and is easy to realize various parameters. feedback, therefore, it is most suitable for power-mass applications, which have been used in various fields of defense and industry, such as aviation Control of engine and ship steering gear, control of radar and artillery, position control of machine tool table, plate thickness control of strip rolling mill, Electrode position control of electric furnace smelting, pressure control of material testing machines and other testing machines, etc. H...

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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.

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