• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (10): 145-151.

• 论文 • 上一篇    下一篇

基于动态逆模型的电液位置伺服系统复合控制

姚建勇;焦宗夏;黄澄   

  1. 北京航空航天大学飞行器控制一体化技术重点实验室;北京航空航天大学自动化科学与电气工程学院
  • 发布日期:2011-05-20

Compound Control for Electro-hydraulic Positioning Servo System Based on Dynamic Inverse Model

YAO Jianyong;JIAO Zongxia;HUANG Cheng   

  1. Science and Technology on Aircraft Control Laboratory, Beihang University School of Automation Science and Electrical Engineering, Beihang University
  • Published:2011-05-20

摘要: 电液位置伺服系统是典型的非线性系统,且往往存在较强的外部干扰。正是由于系统非线性及不确定性,传统方法设计的闭环控制器往往不能满足系统的高性能需求。基于系统动态逆模型设计出复合控制器,包括前馈控制器和鲁棒控制器,分别用于提高系统的控制精度及鲁棒性,给出电液位置伺服系统鲁棒控制器的一般设计方法,并针对电液伺服系统的主要非线性参数,给出在线预估的自适应方法。最后给出复合控制器的验证实例,并对所建数学模型及参数预估方法进行验证,试验结果表明,所提出的基于动态逆模型的复合控制策略提高了系统控制精度,增强了系统抑制外干扰的能力,拓展了系统双十频宽。

关键词: 电液位置伺服系统, 动态逆模型, 鲁棒控制, 自适应控制

Abstract: Electro-hydraulic positioning servo system is a typical nonlinear system, and usually suffersuncertain external disturbances which make the conventional controller fail to meet the high performance requirements. A compound controller based on the dynamic inverse model of system is proposed, which includes a feed-forward controller and a robust controller to improve system control accuracy and robustness respectively. The rules of robust controller are presented and online parameter estimation is given for the compound controller to adapt the system nonlinear characteristics. A case study is presented, and experimental results show that the system nonlinear parameters are estimated accurately and the proposed compound control can handle the external disturbances effectively and upgrade the tracking performance of the hydraulic system.

Key words: Robust control, Adaptive control, Dynamic inverse model, Electro-hydraulic positioning servo system

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