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Control method of electro-hydraulic position servo system based on disturbance compensation

An electro-hydraulic position servo and disturbance compensation technology, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of unobservable matching disturbance, unfavorable engineering practice, cumbersome design process, etc., and achieve the interference estimation method The effect of convenience

Active Publication Date: 2018-06-01
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing disturbance observers can only observe matching disturbances, but cannot observe matching disturbances
Some observers

Method used

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  • Control method of electro-hydraulic position servo system based on disturbance compensation
  • Control method of electro-hydraulic position servo system based on disturbance compensation
  • Control method of electro-hydraulic position servo system based on disturbance compensation

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Experimental program
Comparison scheme
Effect test

Embodiment

[0083] The parameter values ​​of the motor servo system are as follows:

[0084] m=30kg, B=10N·m·rad-1·s -1 , V t =7.962e -5 m 3 , β e =700e 6 pa, D m =9e -4 m 2 , C t =3e -12 m 3 / s / pa,k t =1.18e -8 m 3 / s / V / pa -1 / 2 , P s =10e 6 pa.

[0085] In order to verify the control performance of the controller, the controller proposed by the present invention is named NRDC controller, and the controller used for comparison is named FLC controller. The two controllers have the same expression but different parameters. There is no disturbance compensation term for disturbance in the FLC controller.

[0086] NRDC controller parameter k 1 =1000,k 2 =2000,k 3 =1000,λ 1 =100,λ 2 =2000.

[0087] The FLC controller parameter is k 1 =1000,k 2 =2000,k 3 =1000,λ 1 =0,λ 2 =0.

[0088] Position command signal x 1d (t)=0.04sin(t)·[1-exp (-0.01t3) ]

[0089] figure 2 is the position command signal diagram, image 3 is the curve of the tracking error of the two con...

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Abstract

The invention discloses a control method of an electro-hydraulic position servo system based on disturbance compensation, and belongs to the field of electro-hydraulic position servo control. The method includes following steps: establishing a mathematical model of the electro-hydraulic position servo system; establishing a mathematical model of a disturbance term observer; designing an electro-hydraulic position servo system controller based on disturbance compensation; and performing stability proof by employing the Lyapunov stability theory. According to the method, matched and unmatched disturbances in the electro-hydraulic servo system are estimated and compensated through the model compensation method so that the performance of the system can be effectively enhanced; and the disturbance estimation method is convenient and feasible, the practical production implementation is facilitated, and the validity of the controller is verified through comparison with a simulation result.

Description

technical field [0001] The invention relates to the field of electro-hydraulic position servo systems, in particular to a control method for electro-hydraulic position servo systems based on interference compensation. Background technique [0002] The electro-hydraulic servo system has outstanding advantages such as large transmission torque and high transmission efficiency, and is widely used in various important industrial fields, such as construction machinery, machine tools, aerospace and so on. With the rapid development of these fields, the requirements for the position tracking performance of the electro-hydraulic system are also getting higher and higher, and the performance of the system is closely related to the design of the controller. The electro-hydraulic servo system is a typical nonlinear system. In the process of designing the controller, it will face many modeling uncertainties, including parameter uncertainties and unmodeled disturbances, etc., and the con...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李旭东陈雄
Owner NANJING UNIV OF SCI & TECH
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