Five-order active disturbance rejection control method for continuous rotary motor electro-hydraulic servo system

An electro-hydraulic servo system, active disturbance rejection control technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of high-order active disturbance rejection control without obvious improvement of control accuracy and frequency response There are too many parameters to be tuned, and the performance of the motor cannot be satisfied, so as to improve tracking accuracy and response frequency, save computing time, and achieve good control performance.

Pending Publication Date: 2020-04-03
HARBIN UNIV OF SCI & TECH
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Problems solved by technology

[0004] However, for a high-order nonlinear time-varying system such as a continuous rotary motor electro-hydraulic servo system, the high-order active disturbance rejection controller has the problems of a lar

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  • Five-order active disturbance rejection control method for continuous rotary motor electro-hydraulic servo system
  • Five-order active disturbance rejection control method for continuous rotary motor electro-hydraulic servo system
  • Five-order active disturbance rejection control method for continuous rotary motor electro-hydraulic servo system

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[0023] With reference to the drawings, the control method of the present invention will be described in detail:

[0024] Such as figure 1 As shown, a structure diagram of a fifth-order active disturbance rejection control method for a continuous rotary motor electro-hydraulic servo system; the specific control process is: a given input signal v at time k 0 (k) Obtain v at k+1 time by tracking differentiator 1 (k+1), v 2 (k+1), v 3 (k+1), v 4 (k+1), v 5 (k+1), passing through and z at time k+1 of the extended state observer 1 (k+1), z 2 (k+1), z 3 (k+1), z 4 (k+1), z 5 (k+1) make difference, get error e 1 , E 2 , E 3 , E 4 , E 5 , As the input of the nonlinear error feedback control law, get the output u 0 , Through and z 6 The operation of (k+1) acts as a dynamic compensation on the controlled object to obtain f(z).

[0025] Such as figure 2 As shown, the thin solid line is the slope input signal with a slope of 0.001° / s, and the dotted line is the output corresponding curve control...

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Abstract

The invention discloses a five-order active disturbance rejection control method for a continuous rotary motor electro-hydraulic servo system, and belongs to the field of intelligent control. The control method comprises the steps of introducing a linear and nonlinear combined tracking differentiator, and proposing the design of an extended state observer for improving a nonlinear error feedback control law and a nonlinear compensation effect by using a terminal sliding mode surface. The invention has the advantages that the problems of parameter setting complexity, overlong operation time andthe like of the active disturbance rejection controller can be improved, and the response speed of a control system is increased; and for the continuous rotary electro-hydraulic servo motor system,the low-speed stability and the tracking precision of the continuous rotary motor can be improved, the frequency response of the system is expanded, and the precise control of the servo system is realized.

Description

technical field [0001] The invention relates to the field of intelligent control, and specifically designs a five-order active disturbance rejection control method for an electro-hydraulic servo system of a continuous rotary motor. Background technique [0002] At present, the aerospace industry is the most convincing standard for testing a country's comprehensive national strength. As an important device for evaluating the performance of aerospace guidance systems, continuous rotary motors are widely used in aerospace vehicles. Through the continuous rotary motor electro-hydraulic servo system Precise control to accurately reproduce the changes in the attitude angle and angular velocity of the aerospace vehicle when it is flying in the air. [0003] Active disturbance rejection control is a kind of nonlinear control rate. This technology uses simple nonlinear components and algorithms, which can directly control the nonlinear system without relying on the precise mathematic...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王晓晶冯亚铭孙宇微胡善良霍舒航
Owner HARBIN UNIV OF SCI & TECH
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