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Robust adaptive repetitive control method for hydraulic servo system based on state estimation

A hydraulic servo system, robust self-adaptive technology, applied in the field of hydraulic servo control, can solve the problem of high bandwidth of the control law, achieve the effect of solving the problem of high bandwidth of the control law, broad application prospects, and good tracking performance

Active Publication Date: 2020-03-27
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] The purpose of the present invention is to provide a robust adaptive repetitive control method for hydraulic servo systems based on state estimation, which effectively solves the control law bandwidth of traditional repetitive control methods very high question

Method used

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  • Robust adaptive repetitive control method for hydraulic servo system based on state estimation
  • Robust adaptive repetitive control method for hydraulic servo system based on state estimation
  • Robust adaptive repetitive control method for hydraulic servo system based on state estimation

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Embodiment

[0168] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the hydraulic system:

[0169] m=40kg, B=4000, k t =1.18×10 -8 m 3 / s / V / Pa 1 / 2 , A=904.778mm 2 , V=3.98×10 - 5 m 3 , P s =12MPa, P r =0,β e =700Mpa,C t =3×10 -12 m 3 / s / Mpa.

[0170] Approximate Coulomb friction: A f =100Nm,S f (x 2 ) = arctan(900x 2 ).

[0171] The desired instruction for a given system is: x 1d =0.02sin(t)[1-exp(0.01t 3 )] (rad).

[0172] In the sliding mode observer of the estimated state: L=1,λ i ={12,8,5,3}, i=1,2,3,4.

[0173] Robust adaptive repetitive controller: its control gain is taken as k 1 =1500,k 2 =300,k 3 = 10, k r =10; m=2 in Fourier series expansion, unknown constant parameter adaptive gain in modeling uncertainty approximation Integral robust feedback gain β=10, θ 1 =mV t / (4β e Ak t ), θ 2 =A / k t +BC t / (Ak t ), θ 3 =C t m / (Ak t )+V t B / (4β e Ak t ) are nominal and kno...

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Abstract

The invention discloses a robust adaptive repetitive control method for a hydraulic servo system based on state estimation. The method comprises the following steps: firstly building a mathematic model of the hydraulic system, and making the following assumptions: unmodeled interference of the system is smooth enough, so that the unmodeled interference exists and is bounded; wherein the expected position trajectory is third-order differentiable and bounded; secondly, constructing a robust adaptive repetitive controller, and estimating the state of each order of the robust adaptive repetitive controller by using a sliding mode observer; and finally, a Lyapunov stability theory is used for carrying out stability proving on the hydraulic servo system, and a Barbalat lemma is used for obtaining a progressive stability result of the system. According to the method, the problem that the control law bandwidth of a traditional repetitive control method is very high is effectively solved, and better tracking performance is obtained.

Description

technical field [0001] The invention relates to the field of hydraulic servo control, in particular to a robust adaptive repetitive control method for a hydraulic servo system based on state estimation. Background technique [0002] The application of hydraulic control in the industry has a history of nearly a hundred years. Because the hydraulic system has the advantages of light weight, small size, quick response, and high load stiffness, it is widely used in aerospace, military, and civil industries. With the development of industrial technology With rapid development, the industrial field has put forward higher requirements for high-precision and high-efficiency control of hydraulic systems, but because hydraulic systems are typical nonlinear systems with fixed nonlinear characteristics and various uncertainties existing in the system , therefore, nonlinearity, parameter uncertainty, and unmodeled disturbances have gradually become the main obstacles in the development o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 姚建勇王子龙乐贵高邓文翔赵先亮
Owner NANJING UNIV OF SCI & TECH
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