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Electro-hydraulic servo system self-adaptive control method based on expansion disturbance observer

An electro-hydraulic servo system and self-adaptive control technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the severe chattering of sliding mode surface, discontinuous sliding mode control law, and reduced control performance. and other problems, to achieve accurate transient tracking performance, superior tracking performance, and control chattering problems to avoid the effect

Active Publication Date: 2020-06-26
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, the sliding mode control law is discontinuous and will cause severe chattering of the system around the sliding mode surface
On the other hand, if the modeling uncertainty of the system is mainly caused by parameter uncertainty, then the disturbance observer will cause the control performance to degrade, even worse than the adaptive controller

Method used

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  • Electro-hydraulic servo system self-adaptive control method based on expansion disturbance observer
  • Electro-hydraulic servo system self-adaptive control method based on expansion disturbance observer
  • Electro-hydraulic servo system self-adaptive control method based on expansion disturbance observer

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Embodiment

[0131] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the electro-hydraulic servo system:

[0132] Load m=40kg, viscous friction coefficient B=80N s / m, hydraulic cylinder piston effective area A=2×10 -4 m 2 , Coulomb friction value A f =10N·s / m, oil elastic modulus β e =2×10 8 Pa, internal leakage coefficient C t =9×10 -12 m 5 / (N s), input gain The total volume V of the oil supply chamber and the oil return chamber of the hydraulic cylinder t =2×10 -3 m 3 , oil supply pressure P s =21MPa, return oil pressure P r = 0 Pa.

[0133] Continuous shape function S f (x 2 ) = arctan(100x 2 ).True value of the parameter to be estimated θ=[2,0.25,0.08,400,3.6] T , the bounds of the predictive parameter estimates are θ max =[5,1,0.2,500,10] T , and θ min =[0,0,0.05,0,0] T .The initial value of parameter estimation is selected as It satisfies the condition of (10) and is far away from the ...

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Abstract

The invention provides an electro-hydraulic servo system self-adaptive control method based on an expansion disturbance observer, and the method comprises the following steps: firstly building a mathematic model of the electro-hydraulic servo system: building a force balance equation according to the Newton's second law, and building a pressure dynamic equation and a state space equation accordingto the dynamics of a hydraulic system; designing a mapping function and an adaptive law: designing an adaptive law to learn system parameters, and designing the mapping function to ensure that the parameters are self-adaptive and bounded; secondly, designing an expansion disturbance observer: based on an expansion disturbance observation theory, respectively designing the observer for the matching uncertainty and the mismatching uncertainty, and learning; and finally, performing controller design: performing feed-forward compensation on uncertainty learning, designing a robust controller, andrealizing a tracking effect. According to the method, common parameter uncertainty and unmodeled interference problems in an electro-hydraulic servo system are considered, an expansion interference observer is fused based on a traditional self-adaptive control method, and high-performance position control is achieved.

Description

technical field [0001] The invention relates to the technical field of electro-hydraulic servo control, and mainly relates to an adaptive control method based on an extended disturbance observer. Background technique [0002] In modern industrial production, the electro-hydraulic servo system has been widely used due to its high power density, large force or torque output and other characteristics. Many advanced mechanical equipment, such as construction machinery, mechanical arms, and automobile suspensions, use electro-hydraulic servo systems as actuators. With the development of modern industry, methods based on classical linear control theory can no longer meet the increasing performance requirements, so the study of high-performance nonlinear control strategies is imminent. However, the strong nonlinearity and modeling uncertainty of electro-hydraulic servo systems bring many challenges to the design of high-performance controllers. [0003] In order to solve these pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 桂宏侃邓文翔陈骁姚建勇
Owner NANJING UNIV OF SCI & TECH
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