Hydraulic motor preset performance tracking control method with hysteresis compensating

Abstract

The invention provides a hydraulic motor preset performance tracking control method with hysteresis compensating. The method comprises the steps that 1. a double-vane motor position servo system mathematical model with hysteresis is established; 2. a preset performance tracking control method with hysteresis compensating is designed; and 3. system parameters are designed. Preset performance requirements are fully considered, system hysteresis nonlinearity and high gain feedback are considered, the hydraulic motor preset performance tracking control method with hysteresis compensating is provided, according to the method, hysteresis nonlinearity is subjected to modeling to form the sum of a linear term and a bounded disturbance term, designing of a following moving controller is very convenient, for system parameter uncertainty and a non-modeling disturbance term, a self-adaptation robust control method is used, and meanwhile good parameter estimation and robust boundedness stability are guaranteed.

Description

Technical field [0001] The invention relates to a control method, in particular to a hydraulic motor preset performance tracking control method containing hysteresis compensation. Background technique [0002] The electro-hydraulic servo system has outstanding advantages such as high power density, fast response, and large output force / torque. It has been widely used in industry and national defense, such as manipulators, aircraft control, and load simulators. Among them, hydraulic servo motors are widely used in occasions that require rotational motion because they can directly output torque. However, the electro-hydraulic servo system has many model uncertainties, including parameter uncertainties (such as the flow gain of the servo valve, the bulk modulus of the hydraulic oil, the leakage coefficient of the motor, etc.) and uncertain nonlinearities (such as unmodeled External interference, nonlinear friction, hysteresis, etc.), all of which bring great difficulties to the des...

AI Technical Summary

Problems solved by technology

Hysteresis nonlinearity is an inherent characteristic of the torque motor. If it is not considered in the controller design, it will easily lead to the phase lag of the valve-controlled motor servo system in the low frequency band, which will affect the final performance of the designed motion controller; (3) high gain feedback

This is more common in traditional robust controllers. The maximum upper bound of the uncertain term is used as negative feedback to reduce the tracking error. Although it can achieve better tracking performance, it has to face the risk of high-gain feedback, which is easy to excite the system High frequency unmodeled dynamics, resulting in system instability

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