Backstepping control based multi-electro-hydraulic servo actuator tracking synchronous control method

Abstract

The invention discloses a backstepping control based multi-electro-hydraulic servo actuator tracking synchronous control method which comprises the following steps: converting a multi-electro-hydraulic servo actuator mathematic model into a strict feedback mathematic model containing an uncertain item; acquiring feedback data of a electro-hydraulic servo mechanism; designing a distributed trackingsynchronous protocol of the multi-electro-hydraulic servo actuator; estimating the uncertain item by adopting a high gain uncertain item observer to determine a backstepping control law; and drivingthe asymmetric electro-hydraulic servo mechanism according to the backstepping control law. By designing the distributed tracking synchronous protocol based on neighborhood information and establishing the high gain uncertain item observer to estimate the uncertainty of hydraulic parameters and the uncertain item composed of unknown external load disturbance, a plurality of electro hydraulic servosystems are controlled cooperatively, and the output s can track expected displacement commands, so that the dynamic tracking performance and the coordinate ability of the electro hydraulic servo systems are improved.

Description

technical field [0001] The invention belongs to the technical field of cooperative control of a plurality of asymmetric hydraulic cylinder actuators, and in particular relates to a tracking synchronization control method of a plurality of electro-hydraulic servo actuators under the condition of simultaneous hydraulic parameter uncertainty and unknown external load interference. Background technique [0002] The electro-hydraulic servo system refers to a hydraulic control system with servo components (servo valves or servo pumps) as the control core, mainly composed of electrical signal processing devices and hydraulic power mechanisms. The components of a typical electro-hydraulic servo system are as follows: (1) Given components. It can be a mechanical device, such as a cam, a connecting rod, etc., that provides a displacement signal; it can also be an electrical component, such as a potentiometer, that provides a voltage signal; (2) a feedback detection component. It is u...

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Problems solved by technology

[0004] With the increasing application of electro-hydraulic servo systems in the engineering field, the requirements for large-scale equipment for load capacity continue to increase, and the demand for multiple electro-hydraulic servo systems to jointly drive is increasing; while most of the existing research focuses on a single electro-hydraulic servo Actuators, but lack of research on the cooperative control of multiple asymmetric hydraulic cylinder actuators

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