Hydraulic drive unit position control method based on first order sensitivity iteration compensation

Abstract

The application provides a hydraulic driving unit position control method based on first-order sensitivity iteration compensation, which comprises the following steps: S1, establishing an equivalent mathematical model according to a hydraulic driving unit position control transfer block diagram, obtaining an extended state observation equation and a predicted output equation; S2, constructing an error real-time iteration compensation term for the hydraulic driving unit position control system; S3, verifying the stability of the system after adding the error real-time iteration compensation term on the expected trajectory; and S4, realizing stable control of the hydraulic driving unit position control system according to the stability verification result. The first-order matrix sensitivity analysis is extended to the control field, and a new scheme is provided for solving the strong nonlinearity and coupling problems existing in the hydraulic driving unit position control. The error real-time iteration compensation control method solves the problem of time-varying error gain coefficient in the compensation term through the error iteration method, and improves the hydraulic driving unit position control precision and working condition adaptability.

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