Electro-hydraulic proportional servo valve shaft control method considering time-varying parameter uncertainty

Abstract

The invention discloses an electro-hydraulic proportional servo valve shaft control system self-adaptive dynamic surface control method considering time-varying parameter uncertainty, which is obtained by fusing time-varying parameter self-adaptive control and dynamic surface control and carrying out model feedforward cancellation. Aiming at the problem of shaft control of the electro-hydraulic proportional servo valve considering the uncertainty of the time-varying parameter, the method can ensure that the uncertainty of the time-varying parameter of the system is actively eliminated, improves the capability of resisting the uncertainty of the parameter of the system, can avoid the problem of differential explosion in the traditional backstepping control of the electro-hydraulic system, reduces the influence of measurement noise on the control precision, and improves the reliability of the system. And high-precision tracking performance is realized.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to an electro-hydraulic proportional servo valve shaft control method (ADSC) considering the uncertainty of time-varying parameters. Background technique [0002] The electro-hydraulic proportional servo valve axis control system plays an important role in the fields of robots, heavy machinery, high-performance loading test equipment and other fields due to its high power density, large force / torque output, and fast dynamic response. The electro-hydraulic proportional servo valve shaft control system is a typical nonlinear system, which contains many nonlinear characteristics and modeling uncertainties. The nonlinear characteristics include input nonlinearity such as hysteresis and saturation, proportional servo valve flow and pressure nonlinearity, friction nonlinearity, etc. The modeling uncertainty includes parameter uncertainty and uncertainty nonlinearit...

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Problems solved by technology

Among them, the adaptive control method is a very effective method for dealing with the problem of parameter uncertainty, and can obtain the steady-state performance of asymptotic tracking, but it is unable to cope with uncertain nonlinearities such as external load disturbances. When it is too large, the system may be unstable, and the actual electro-hydraulic proportional servo valve shaft control system has uncertainty and nonlinearity, so the adaptive control method cannot obtain high-precision control performance in practical applications; as a robust Stick control method, classical sliding mode control can effectively deal with any bounded modeling uncertainty, and obtain asymptotically tracking steady-state performance, but the discontinuous controller designed by classical sliding mode control is easy to cause the sliding mode surface The chatter problem of the system deteriorates the tracking performance of the system; in order to solve the problem of parameter uncertainty and uncertainty nonlinearity at the same time, an adaptive robust control method is proposed. This control method exists when two kinds of modeling uncertainties exist The system can obtain definite transient and steady-state performance under certain circumstances. If high-precision tracking performance is to be obtained, the tracking error must be reduced by increasing the feedback gain. Due to the existence of measurement noise, too large a gain will often lead to high Gain feedback causes chattering of the control input, which deteriorates control performance and even causes system instability

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