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Electro-hydraulic servo system position tracking control method considering input delay constraints

An electro-hydraulic servo system and tracking control technology, applied in the direction of program control, computer control, general control system, etc., can solve the problem of few non-linear system control strategies, etc., and achieve the effect of high-precision position tracking performance

Active Publication Date: 2018-07-31
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

A large number of control strategies have been proposed for the control of time-delay systems with known models, but few control strategies for uncertain nonlinear systems with time-delays

Method used

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  • Electro-hydraulic servo system position tracking control method considering input delay constraints
  • Electro-hydraulic servo system position tracking control method considering input delay constraints
  • Electro-hydraulic servo system position tracking control method considering input delay constraints

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Experimental program
Comparison scheme
Effect test

Embodiment

[0099] In order to assess the performance of the designed controller, the parameters in Table 1 are taken in the simulation to model the electro-hydraulic servo system:

[0100] Simulation parameters of electro-hydraulic servo system

[0101]

[0102] Build the system simulation model in MATLAB / Simulink. The simulation step size is set to 0.0005s. The sampling time is 30 seconds. By building a system model for Simulink and applying MATLAB to add the control law to the controller, the parameters in the controller are selected as follows: k 1 =4000,k 2 =1000,k 3 =20,k r =2.

[0103] According to different system working conditions, the simulation process is divided into three parts:

[0104] ①Low speed and small time lag

[0105] Specify the desired position output command of the electro-hydraulic servo system as: x d (t)=0.03sin(0.2πt)[1-exp(-0.01t 3 )]m, at this time it is a low-speed working condition, the specified time lag is 5ms, and the comparison before and ...

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Abstract

The invention discloses an electro-hydraulic servo system position tracking control method considering input delay constraints. The method comprises steps: a mathematical model for the electro-hydraulic servo system is built; a controller considering input delay constraints is designed; and a Lyapunov stability theory is applied to stability proving, the bounded and stable position tracking performance of the system is obtained, and a result of all signals of the system to be bounded is obtained. Through introducing an input delay compensation signal in the controller, an open-loop error system without input delay is thus acquired, and in combination of a Lyapunov-krasovskii functional method, influenced brought by delay are eliminated. The problem that input delay constraints in the actual electro-hydraulic servo system influence the system performance can be effectively solved, and better high-precision position tracking performance can be acquired.

Description

technical field [0001] The invention relates to the technical field of electro-hydraulic servo control, and mainly relates to a position tracking control method of an electro-hydraulic servo system considering input time lag constraints. Background technique [0002] With the continuous development of automation and precision in modern industry, the high-performance requirements for transmission systems also follow, and this demand is becoming more and more intense in various industrial fields. Due to its outstanding advantages such as fast response, high precision, convenient maintenance, high transmission efficiency, and convenient energy acquisition, electro-hydraulic servo systems are widely used in various important fields such as robots, machine tools, and aerospace, and gradually occupy a dominant position. With the continuous improvement of servo performance requirements for electro-hydraulic servo systems such as tracking accuracy, dynamic bandwidth, and ultra-low-s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/401
CPCG05B19/401G05B2219/37604
Inventor 沈炅乐贵高姚建勇
Owner NANJING UNIV OF SCI & TECH
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