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A Robust Control Method for Self-Regulating Error Symbol Integral of Electro-hydraulic Torque Servo System

A technology of servo system and error sign, which is applied in the field of self-adjusting error sign integral robust control of electro-hydraulic torque servo system, and can solve problems such as controller discontinuity, model uncertainty, engineering limitations, etc.

Active Publication Date: 2019-02-05
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a self-adjusting error sign integral robust control method of the electro-hydraulic torque servo system, which solves the neglected model uncertainty in the existing electro-hydraulic torque servo system and the control method based on the traditional sliding mode The designed controller is discontinuous, and there are engineering limitations based on the traditional RISE control method

Method used

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  • A Robust Control Method for Self-Regulating Error Symbol Integral of Electro-hydraulic Torque Servo System
  • A Robust Control Method for Self-Regulating Error Symbol Integral of Electro-hydraulic Torque Servo System
  • A Robust Control Method for Self-Regulating Error Symbol Integral of Electro-hydraulic Torque Servo System

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Embodiment

[0169]In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the electro-hydraulic torque servo system:

[0170] A=2×10 -4 m 3 / rad,V 01 =V 02 =1.7×10 -4 m 3 B=80N·m·s / rad,β e =2×10 8 Pa,C t =9×10 -12 m 5 / (N·s), P s =21×10 6 Pa, P r =0Pa, J=0.32kg·m 2 ,A f =80Nm,

[0171] The designed controller parameters are selected as: k 1 =900,k r =0.001, The self-regulating law gain Γ=5. The time-varying external disturbance of the system is selected as d=200sint, and the trajectory is The force command that the system expects to track is a curve

[0172] The effect of the control law:

[0173] image 3 It is a curve diagram of controller u changing with time in the embodiment, and the input voltage of the controller satisfies the input range of -10V~+10V, which is in line with practical application.

[0174] Figure 4 is the system disturbance as A plot of the estimated value of the...

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Abstract

The invention discloses a method for self-adjustment error symbol integral robust control of an electro-hydraulic torque servo system. With an electro-hydraulic load simulator as a research object, the method comprises the steps of establishing a non-linear mathematical model of the electro-hydraulic torque servo system; designing a self-adjustment error symbol integral robust controller; applying the Lyapunov stability theory to perform stability proof on the system, and applying a Barbalat lemma to obtain global asymptotically-stable results of the system. According to the method, the controller design is simplified, the problems of symbol function gain adjustment conservation and potential high-gain feedback in a conventional RISE control method are effectively solved, and a control voltage of the controller is continuous and facilitates engineering practical application.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to a self-adjusting error sign integral robust control method of an electro-hydraulic moment servo system. Background technique [0002] The electro-hydraulic load simulator is a typical electro-hydraulic torque servo system. Its main application is to load the position servo mechanism of the steering gear of the aircraft, and simulate the aerodynamic load on the rudder surface during flight on the ground, so as to constitute the control system of the flight control system. Half-in-the-loop simulation. The simulation computer is embedded with a six-degree-of-freedom model of the aircraft established based on wind tunnel data and flight equations, and calculates the aerodynamic hinge moment load during the entire flight in real time according to the relevant physical quantities such as flight height, speed, rudder surface angle, and atmospheric data, forming Moment loa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 岳欣姚建勇
Owner NANJING UNIV OF SCI & TECH
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