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Adaptive RISE control method of load simulator based on novel model

A technology of load simulator and control method, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of model uncertainty, poor estimation accuracy of high-gain feedback parameters, limited controller performance, etc. achieve the effect of improving accuracy

Active Publication Date: 2019-03-05
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0009] The purpose of the present invention is to provide a load simulator adaptive RISE control method based on a new model, which solves the neglected model uncertainty in the existing load simulator first-order model, based on traditional adaptive robust / sliding mode The performance of the controller designed by the control method is limited, and there are problems of high gain feedback phenomenon and poor parameter estimation accuracy based on the general adaptive robust control method.

Method used

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  • Adaptive RISE control method of load simulator based on novel model
  • Adaptive RISE control method of load simulator based on novel model
  • Adaptive RISE control method of load simulator based on novel model

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Embodiment

[0118] The parameters of the dual vane hydraulic motor force control load simulator are:

[0119] D. L =9×10 -4 m 3 / rad,J L =0.32kg·m 2 , B=4000N·m·s / rad, β e =7×10 8 Pa, C t =9×10 -12 m 5 / (N·s), P s =10×10 6 Pa, P r = 0 Pa, V t =8×10 -5 m 3 , K s =2.4×10 5 Nm / rad,

[0120] Comparison of simulation results: the controller parameters designed in this embodiment are selected as: k=2×10 2 , the adaptive law parameters are chosen as

[0121] The estimation range of system parameters is selected as: θ min =[1×10 10 ,1×10 2 ] T , θ max =[1×10 11 ,1×10 3 ] T .

[0122] The trajectory of the selected system is The expected trajectory of the system is The tracked torque command is a curve

[0123] figure 2 is the given tracking torque command curve of the present invention.

[0124] image 3 is the curve of the system tracking error changing with time, it can be seen that the tracking error is asymptotically convergent, and its amplitude ...

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Abstract

The invention discloses an adaptive RISE control method of a load simulator based on a novel model, and belongs to the field of electro-hydraulic servo control. According to the control method, nonlinearity including parameter nondeterminacy of a system and external interference are taken into consideration, a continuous projection function is used to estimate the parameter nondeterminacy, and itis ensured that an estimated value is within the range of parameter nondeterminacy; a continuous RISE controller is designed for the nondeterminacy nonlinearity including external interface, and an asymptotic tracking theoretical result is obtained. The method has the advantage of accurate parameter estimation, a rapid dynamic compensation method is used to overcome the defect of relatively low output tracking performance in adaption, and a better simulation result can be obtained in the aspects of parameter estimation and error tracking; and the control voltage of the designed nonlinear robust controller is continuous, and the method can be applied to engineering practicality.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to a load simulator adaptive RISE control method based on a novel model. Background technique [0002] The load simulator is used to simulate the aerodynamic moment on the rudder surface of the aircraft and other moving objects during flight and movement. It is one of the important ground simulation equipment for missile and other weapon systems. The load simulator is also called the force / torque servo loading system, which belongs to the category of force / torque servo control system and has a structure similar to that of the ordinary force / torque servo system. Such as figure 1 As shown, a general load simulator mainly includes a servo controller, an actuator, and a detection element, etc., the core of which is the servo controller, and the expected output of the system is the loading force / torque. [0003] According to the different loading actuators, load simulator...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 姚建勇罗成洋
Owner NANJING UNIV OF SCI & TECH
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