A Low-Complexity Control Method for Asymmetric Servo-Hydraulic Position Tracking System

Abstract

The invention discloses a low-complexity control method for an asymmetric servo-hydraulic position tracking system, belonging to the field of servo-hydraulic position control. The method comprises the following steps: establishing a servo-hydraulic system model of a single-rod; System model, using low-complexity control strategy to design the controller of the single-rod servo hydraulic system; according to the controller of the single-rod servo-hydraulic system and the model of the single-rod servo-hydraulic system, it is proved that the single-rod servo-hydraulic system In order to solve various uncertainties and unknown nonlinear problems in the hydraulic system, the design of the controller does not depend on the precise mathematical model, only the state signal that can be measured, the calculation of the control rate is consistent with the existing Compared with the algorithm developed on the basis of backstepping adaptation, the calculation process is simple, the calculation amount is small, it is convenient for real-time control, and it is easier to implement in engineering.

Description

technical field [0001] The invention relates to the field of servo hydraulic position control, in particular to a low-complexity control method for an asymmetrical servo hydraulic position tracking system. Background technique [0002] Servo hydraulic systems have the advantages of excellent load efficiency, small power ratio, fast response, etc. Therefore, in modern industries, they are widely used (such as active suspension systems, hydraulic excavators, manipulators). The servo hydraulic system includes two hydraulic actuators, a double-rod symmetrical hydraulic actuator and a single-rod asymmetric hydraulic actuator. In the study of active suspension control, the areas of the two oil chambers are often considered equal, and symmetrical hydraulic actuators are used. For an asymmetrical servo hydraulic system, due to the existence of the piston rod, the effective area of ​​the rod cavity and the rodless cavity of the hydraulic cylinder are different, and the symmetrical h...

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Problems solved by technology

[0005] In summary, the servo hydraulic system and its position control method have the following deficiencies: 1. The single-rod nonlinear servo hydraulic system is a typical complex nonlinear system, which involves load changes, uncertain parameters and unknown The problem of nonlinearity and other problems, so that there is a huge gap between the establishment of the theoretical model and the actual system, resulting in the difficulty and complexity of designing the controller; 2. Most of the current servo hydraulic position control methods are based on backstep control self-adaptive However, these control methods have a high degree of dependence on the model, and in the process of backstepping design of high-order systems, a large amount of calculation will be generated, and online learning of uncertain parameters is not conducive to actual experiments Third, from the perspective of practical application, in the servo hydraulic position tracking system, if there is a potential bad transient response (overshoot is too large, slow convergence), it may lead to tracking performance deterioration, danger or even hardware damage

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