Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Electro-hydraulic position servo system multi-model robust self-adaptive control method

An electro-hydraulic position servo and robust self-adaptive technology, which is applied in the direction of self-adaptive control, general control system, control/regulation system, etc., and can solve problems such as system influence

Active Publication Date: 2018-07-20
NANJING UNIV OF SCI & TECH
View PDF6 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, like traditional self-adaptation, when there are uncertain nonlinearities such as external disturbances, it will affect the system

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Electro-hydraulic position servo system multi-model robust self-adaptive control method
  • Electro-hydraulic position servo system multi-model robust self-adaptive control method
  • Electro-hydraulic position servo system multi-model robust self-adaptive control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0226] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the electro-hydraulic position servo system:

[0227] The load mass m=30kg, the annular working area A of the inner chamber of the hydraulic cylinder=9.05×10 -4 m 2 , the total volume of the hydraulic cylinder V t =7.96×10 -5 m 3 , effective oil elastic modulus β e =200MPa, internal leakage coefficient C t =1×10 -12 m 5 / (N s), viscous friction coefficient B=4000N s / m, total flow gain Oil supply pressure P s =10MPa, oil return pressure P r =0.08MPa, pressure dynamic modeling error q(t)=2×10 -7 m 3 / (s / m), external load disturbance f(t)=500sint(N·m).

[0228] Multi-model Robust Adaptive Controller (MMRAC): Take the controller parameter λ 1 =1000,λ 2 =500,λ 3 =200,k 1 =1000,k 2 =200,k 3 = 10, θ pmin =[-3.5×10 6 ,-2750,2,-200] T , θ pmax =[-6.5×10 4 ,100,200] T , in this simulation test, five identification models were establ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an electro-hydraulic position servo system multi-model robust self-adaptive control method, and includes the following steps: establishing a mathematical model and an identification model of the electro-hydraulic position servo system; designing a corresponding controller based on the identification model; designing a switching strategy; and conducting performance and stability analyses on a multi-model robust self-adaptive controller. The method fuses multi-model self-adaptive control and robust control, designs nonlinear robust items in the identification model, solves the problem of relatively poor transient response of traditional self-adaption under high parameter uncertainty, enhances robustness of traditional self-adaption to uncertain nonlinearity of external interference and the like, and finally obtains good steady state tracking performance and relatively good transient performance.

Description

technical field [0001] The invention relates to the technical field of electro-hydraulic servo control, in particular to a multi-model robust adaptive control method for an electro-hydraulic position servo system. Background technique [0002] Due to the advantages of fast dynamic response, small size, large output force / torque, and high control accuracy, the electro-hydraulic servo system has been widely used in national defense, aerospace, and civil fields. Electrohydraulic servo system is a typical nonlinear system, including various modeling uncertainties and nonlinear characteristics. Among them, nonlinear characteristics mainly include friction nonlinearity and servo valve flow pressure nonlinearity, etc. Modeling uncertainty mainly includes parameter uncertainty and uncertainty nonlinearity, parameter uncertainty mainly includes servo valve flow gain, leakage coefficient , the viscous friction coefficient of the actuator, the elastic modulus of the hydraulic oil, etc...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 姚建勇成旭华吴昊
Owner NANJING UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com