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Control method and system of electro-hydrostatic actuator

An electro-hydrostatic actuation and control method technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as differential explosion control accuracy

Active Publication Date: 2020-06-05
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, backstepping control can provide convenience for nonlinear decoupling, but for a system with more than third order like EHA, it is easy to produce differential explosion under the influence of tiny white noise, making the control accuracy lower

Method used

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  • Control method and system of electro-hydrostatic actuator
  • Control method and system of electro-hydrostatic actuator
  • Control method and system of electro-hydrostatic actuator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0119] figure 1 It is a method flowchart of the control method of the electrostatic fluid actuator according to Embodiment 1 of the present invention.

[0120] see figure 1 , the control method of the electrostatic fluid actuator, comprising:

[0121] Step 101: Construct a dynamic model of the electrohydrostatic actuator.

[0122] The electrohydrostatic actuator includes a motor, a pump, and an actuator; the motor is used to drive the pump to change the pressure of the hydraulic cylinder, which in turn drives the actuator.

[0123] Step 101 specifically includes:

[0124] Using the brushless DC motor as the motor of the electrohydrostatic actuator, the potential balance equation of the motor is established:

[0125]

[0126] where u e is the motor control voltage; i e is the motor current; K e is the back electromotive force coefficient of the motor; ω e is the motor speed; R e is the motor armature resistance; L e is the motor armature inductance, for i e The ...

Embodiment 2

[0170] This embodiment 2 is a more specific embodiment relative to embodiment 1.

[0171] Basic theory:

[0172] L 2 and L ∞ Stability Theoretical Basis:

[0173] Lebesgue space (Lebesgue space) has the following definition:

[0174] Definition 1: Lebesguespace, with L p Represents and p is a positive integer, its measurable and integrable function f(t) satisfies:

[0175]

[0176] Consider two special cases:

[0177] (a) A Lebesgue measurable function f(t) belongs to L 2 if and only if

[0178] (b) A Lebesgue measurable function f(t) belongs to L ∞ if and only if

[0179] L 2 is a second-order Lebesgue space, L ∞ is a Lebesgue space of infinite order.

[0180] The following three lemmas can prove that L 2 and L ∞ stability

[0181] Lemma 1: Consider a nonnegative differentiable function ξ(t) defined as

[0182]

[0183] Among them, a i >0 and n≥1. If the differential of ξ(t) with respect to time is Lebesgue integrable and

[0184]

[0185] Amon...

Embodiment 3

[0377] This embodiment 3 discloses a control system of an electrostatic fluid actuator, including:

[0378] A dynamic model building block for constructing a dynamic model of an electrohydrostatic actuator;

[0379] A system division module is used for system division of the electrostatic fluid actuator according to the energy conversion process to obtain multiple subsystems;

[0380] A control law determination module, used to determine the control laws of each subsystem based on the dynamic model;

[0381] The control module is used for controlling the electrostatic fluid actuator according to the control law of each subsystem.

[0382] Optionally, the electrohydrostatic actuator includes a motor, a pump, and an actuator; the motor is used to drive the pump to change the pressure of the hydraulic cylinder, and then drive the actuator;

[0383] Kinetic model building blocks include:

[0384] The potential balance equation establishment unit is used to establish the potenti...

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Abstract

The invention discloses a control method and system of an electro-hydrostatic actuator. The method comprises the following steps: constructing a kinetic model of the electro-hydrostatic actuator; performing system division on the electro-hydrostatic actuator according to the energy conversion process to obtain a plurality of subsystems; determining a control law of each subsystem based on the kinetic model; and controlling the electro-hydrostatic actuator according to the control law of each subsystem. According to the control method and system of the electro-hydrostatic actuator, the controlprecision of the electro-hydrostatic actuator can be improved.

Description

technical field [0001] The invention relates to the field of electrostatic fluid actuators, in particular to a control method and system for an electrostatic fluid actuator. Background technique [0002] Electro-Hydrostatic Actuator (Electro-Hydrostatic Actuator, EHA) is an advanced power-driven actuator, which has the advantages of high density, light weight, and small size, and represents the future of high performance, high reliability, and high power density. An important development direction of aerospace servo actuation technology. EHA is generally composed of a motor, a hydraulic pump, an actuator, and some hydraulic accessories. However, due to the large inertia of the motor itself, the improvement of the response speed and bandwidth of the electrohydrostatic actuator depends on the effective use of advanced control methods. In addition, the EHA model is complex and of high order, affected by various nonlinearities and uncertainties, which brings challenges to the c...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王兴坚沈友昊王少萍张育玮张超
Owner BEIHANG UNIV
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