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Hydraulic system control method based on parameter self-adaption

A hydraulic system and control method technology, applied in the field of hydraulic system control, can solve the problems of electro-hydraulic servo valve dead zone, zero drift, asymmetrical zero position, etc., and achieve the effect of high control precision and small overshoot

Active Publication Date: 2021-03-26
上海凯科疏水阀业有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

However, there are still characteristics of the electro-hydraulic servo valve itself, such as dead zone, zero drift, asymmetric zero position, and hysteresis, which result in a highly nonlinear hydraulic servo system.

Method used

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

[0030] According to an embodiment of the present invention, a hydraulic system control method based on parameter self-adaptation is provided.

[0031] Such as Figure 1-Figure 2 As shown, the hydraulic system control method based on parameter self-adaptation according to the embodiment of the present invention includes the following steps:

[0032] Acquire the actual joint position in advance, and calibrate the expected joint position θ;

[0033] Parameter fuzzy self-tuning PID control base...

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Abstract

The invention discloses a hydraulic system control method based on parameter self-adaption, and relates to the technical field of hydraulic system control. The hydraulic system control method comprises the following steps that an actual joint position is obtained in advance, and an expected joint position theta is calibrated; parameter fuzzy self-tuning PID control based on a position error valuee and a position error change ec comprises the steps that the error value e is calibrated, and the position error change ec is calibrated as input, and kp, ki and kd are obtained as output parameters;and control is carried out based on a servo amplifier and an electro-hydraulic servo valve. The hydraulic system control method has fuzzy control robustness and PID control steady-state error weakening performance, uses a fuzzy control rule for automatically adjusting PID parameters, adopts fuzzy control within a large deviation range and converts fuzzy control into PID control within a small deviation range, and automatically achieves conversion of the fuzzy control and the PID control according to a given deviation threshold value, has smaller overshoot in composite control, and obviously has higher control precision in the aspect of joint position control.

Description

technical field [0001] The invention relates to the technical field of hydraulic system control, in particular to a method for controlling a hydraulic system based on parameter self-adaptation. Background technique [0002] The main driving methods of industrial robots include motor drive, pneumatic drive and hydraulic drive. Pneumatic driving has a large bearing capacity and low cost, and the gas has a large elastic modulus, which tends to reduce the stiffness during work and has the disadvantages of low control accuracy. Among them, the motor drive control is simple and the control precision is high, but there are also disadvantages such as low power density and poor resistance to electromagnetic interference. The electro-hydraulic servo system has good control performance, has the advantages of high response, high precision, high power, high system stiffness and strong anti-interference ability, and has good applications in aerospace, mining, metallurgy, civil, ship wate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F15B11/00F15B13/02F15B21/08G05B11/42
CPCF15B11/00F15B13/02F15B21/087G05B11/42
Inventor 李铁军李赛雷杨冬蒙磊李勇斌
Owner 上海凯科疏水阀业有限公司
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