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Electro hydraulic load simulator self-adaptive robust force control method

A technology for simulating devices and electro-hydraulic loads, which can be used in adaptive control, general control systems, control/regulation systems, etc., and can solve problems such as controller discontinuity, enhancement, and model uncertainty

Active Publication Date: 2016-08-10
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide an adaptive robust force control method for an electro-hydraulic load simulator, which solves the neglected model uncertainty in the existing electro-hydraulic load simulator and is designed based on a traditional sliding mode control method Based on the traditional adaptive control method, the nonlinear robust control law is cleverly designed to make the parameter estimation of the system unaffected when there are both parameter uncertainties and uncertain nonlinearities. And obtain asymptotic tracking performance, enhance the robustness of traditional adaptive control to external load disturbance and other uncertain nonlinearities, and obtain better tracking performance

Method used

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  • Electro hydraulic load simulator self-adaptive robust force control method
  • Electro hydraulic load simulator self-adaptive robust force control method
  • Electro hydraulic load simulator self-adaptive robust force control method

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Experimental program
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Embodiment

[0188] The parameters of the hydraulic cylinder force control load simulator are:

[0189] A=2×10 -4 m 3 / rad,β e =2×10 8 Pa,C t =9×10 -12 m 5 / (N·s), P s =21×10 6 Pa, P r = 0 Pa, V 01 =V 02 =1.7×10 -4 m 3 , a 3 =80N·m·s / rad, J=0.32kg·m 2 ,a 1 =5×10 -4 ,a 2 =3.5×10 -4 ,c 1 =15,c 2 =1.5,c 3 =900

[0190] The controller parameters are selected as: feedback gain K=k+k m = 100, adaptive gain Г = diag{7.3×10 -5 ,1×10 11 ,3×10 -11 ,5×10 -4 ,2×10 -4 , 30}, the sampling time of the simulation is 0.2ms. The time-varying external disturbance of the system is selected as d=200sint, and the trajectory is The torque command that the system expects to track is a curve

[0191] The effect of the control law:

[0192] image 3 It is a curve diagram of the system control input u changing with time under the action of the controller in the embodiment. It can be seen from the figure that the obtained control input is a low-frequency continuous signal, which i...

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Abstract

The invention discloses an electro hydraulic load simulator self-adaptive robust force control method. For the system characteristics of an electro hydraulic load simulator, the friction characteristic of the system is analyzed through friction identification. A system nonlinear mathematical model which comprises a continuous differentiable friction model is established. Based on a traditional self-adaptive control method, a nonlinear robust control law is designed. The parameter estimation of the system is not affected in the presence of parametric uncertainties and uncertain nonlinearities, and an asymptotic tracking performance is acquired. According to the electro hydraulic load simulator self-adaptive robust force control method provided by the invention, the robustness of uncertain nonlinearities of traditional external load disturbance self-adaptive control and the like is enhanced to acquire a better tracking performance.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, and in particular relates to an adaptive robust force control method of an electro-hydraulic load simulation device. Background technique [0002] The performance of a precision strike weapon is the most important factor in determining the outcome of a modern war. The control of the attitude, trajectory and direction of the weapon is the key. The control computer calculates the control instructions and then controls the output. All these control outputs will be implemented on the final servo actuator (steering gear). Therefore, the performance of the actuator is related to the all-round development of the defense industry such as aviation, aerospace, ships, artillery, etc. At the same time, the application in the civilian industry has also received extensive attention. It determines the structure and layout of the entire large control system of modern precision guided weapons, and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 姚建勇岳欣
Owner NANJING UNIV OF SCI & TECH
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