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Coupling three-container liquid level control method based on port controlled Hamiltonian principle

A technology of Hamiltonian principle and control method, applied in the field of electro-hydraulic position servo control, can solve the problems of large computational complexity, robustness and anti-interference performance to be improved, unclear physical meaning of the controller, etc., so as to reduce the complexity degree, the effect of realizing the control effect

Active Publication Date: 2021-09-03
QINGDAO UNIV
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  • Claims
  • Application Information

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Problems solved by technology

However, the existing technology has the following defects: (1) the calculation complexity is large, and the online calculation time of the controller is long; (2) the physical meaning of the controller is not clear; (3) the robustness and anti-interference performance need to be improved

Method used

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  • Coupling three-container liquid level control method based on port controlled Hamiltonian principle
  • Coupling three-container liquid level control method based on port controlled Hamiltonian principle
  • Coupling three-container liquid level control method based on port controlled Hamiltonian principle

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Experimental program
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Effect test

Embodiment 1

[0138] S1: Build figure 1 The three-volume level control system shown:

[0139] Pump 1 supplies liquid to tank 1 through manual valve mv4, and supplies liquid to tank 3 through valve mv6; pump 2 supplies liquid to tank 2 through valve mv5. The liquid in tank 1 flows into tank 2 through valve mv1, and the liquid in tank 2 and tank 3 flows into the liquid storage tank through valve mv2 and valve mv3 respectively. There are liquid level ultrasonic sensors on top of each tank. Its model can be expressed as:

[0140]

[0141] where: h i is the liquid level of tank i, A i is the cross-sectional area of ​​tank i, i=1,2,3; a j for manual valve mvmv j The cross-sectional area can be adjusted manually, j=1,2,3,4,5,6; g is the acceleration due to gravity.

[0142] The state and input of the system are defined as:

[0143] x(t)=[h 1 (t), h 2 (t), h 3 (t)] T , u(t)=[q 1 (t),q 2 (t)] T (2)

[0144] According to formulas (1) and (2), the mathematical model of the three-vo...

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Abstract

The invention relates to a coupling three-container liquid level control method based on a port controlled Hamiltonian principle, and belongs to the technical field of electro-hydraulic position servo control. The method comprises the following steps: S1, constructing a three-volume liquid level system model; S2, constructing a PCH model of the three-capacity liquid level system: obtaining a port controlled Hamiltonian model of the three-capacity liquid level control system according to the three-capacity liquid level control system given in the S1; S3, analyzing a three-volume liquid level control principle: S31, determining parameters and avoiding disturbance condition: because all parameters are accurate, obtaining a basic PCH controller based on a PCH method; S32, performing L2-gain disturbance compensation control under the condition that parameters are known; S33, performing adaptive L2 gain disturbance compensation control under the condition that parameters are unknown; and S4, simulating the three-capacity liquid level system. The electro-hydraulic position servo control system can be widely applied to electro-hydraulic position servo control occasions.

Description

technical field [0001] The invention relates to a coupling three-capacity liquid level control method based on the port-controlled Hamiltonian principle, and belongs to the technical field of electro-hydraulic position servo control. Background technique [0002] The current existing technologies mainly include PID control, fuzzy control, backstepping control, neural network control, predictive control, sliding mode variable structure control, feedback linearization, multi-model control, fractional order control, etc. However, the existing technology has the following defects: (1) the calculation complexity is large, and the online calculation time of the controller is long; (2) the physical meaning of the controller is not clear; (3) the robustness and anti-interference performance need to be improved. Contents of the invention [0003] In view of the above-mentioned defects in the prior art, the present invention proposes a method for controlling the liquid level of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D9/12
CPCG05D9/12
Inventor 许涛于海生于金鹏
Owner QINGDAO UNIV
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