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Indirect adaptive robust control method for electro-hydrostatic actuator

An adaptive robust, electro-hydrostatic actuation technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of system flutter, difficult to meet the high performance requirements of the system, etc., to achieve good Tracking Performance, Effects of Wide Application Prospects

Active Publication Date: 2021-10-26
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In the article "Sliding Film-PID Controller Design of Aircraft Electrostatic Hydraulic Actuator", Hong Hui et al. proposed a sliding mode-PID composite control method. The current loop and speed loop of the motor constitute the inner loop of the control system, and the outer loop is position feedback. The PI controller is used to realize the speed regulation of the motor, and the sliding mode control is used to replace the PID control position loop to improve the rapidity and robustness of the system. However, it may cause system chatter and it is difficult to meet the high performance requirements of the system

Method used

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  • Indirect adaptive robust control method for electro-hydrostatic actuator
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  • Indirect adaptive robust control method for electro-hydrostatic actuator

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Experimental program
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Embodiment

[0100] In order to verify the performance of the designed controller, the following parameters are taken in the simulation to model the electrohydrostatic actuator:

[0101] V 01 =V 02 =7.962e-5 / 2m 3 ;A=9.0478e-4m 2 ; m=30Kg; B=400N·s / m;

[0102] C t =3e-12m 5 / (N·s);β e =7e8Pa; η v =0.9; D=0.02L / min; k m =10.

[0103] Take the control parameter: k 1 =100,k 2 =500,k 3 = 10; θ min =[0.1,50,0] T , θ max =[1;1000;50] T .

[0104] Using MATLAB, use the data obtained by the system every 0.001s for simulation, given the expected command x of the system 1d =0.01sin(3.14t)[1-exp(-t)], the schematic diagram of the tracking process of the system output to the expected instruction can be obtained ( image 3 ), the parameter estimation curve of the controller ( Figure 4 ), the tracking error map of the system ( Figure 5 ). from image 3 with Figure 5 It can be seen from the figure that the tracking error of the indirect adaptive robust controller is large at the ...

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Abstract

The invention discloses an indirect adaptive robust control method for an electro-hydrostatic actuator. The method comprises the following steps: firstly, establishing a mathematical model of an electro-hydrostatic actuator system; and designing a mathematical model of an electro-hydrostatic actuator system, designing an indirect adaptive robust controller according to the mathematical model of the electro-hydrostatic actuator system, and finally carrying out stability proving on the indirect adaptive robust controller of the electro-hydrostatic actuator system by using a Lyapunov stability theory to obtain a bounded stability result of the system. On-line estimation can be quickly realized under the condition that a certain parameter or some parameters of a system model are unknown.

Description

technical field [0001] The invention relates to an electro-hydraulic servo control technology, in particular to an indirect self-adaptive robust control method of an electro-hydrostatic actuator. Background technique [0002] Electro-hydraulic servo control technology is an important part in the field of hydraulic technology, and it is also an important representative of electro-hydraulic integration technology. In recent years, as the demand in my country's manufacturing field continues to develop in the direction of high response, high precision, and high power (weight ratio), my country's electro-hydraulic servo control technology has gradually made leaps and bounds. The electrostatic hydraulic actuator is a representative product of electrohydraulic servo control technology. Many domestic and foreign scholars have studied it, and it is widely used in aviation, aerospace, military, metallurgy, engineering machinery and other fields. Due to the slow response speed of typi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 姚建勇顾单婷
Owner NANJING UNIV OF SCI & TECH
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