留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

阀控电液位置伺服系统非线性鲁棒控制方法

汪成文 尚耀星 焦宗夏 韩松杉

汪成文, 尚耀星, 焦宗夏, 等 . 阀控电液位置伺服系统非线性鲁棒控制方法[J]. 北京航空航天大学学报, 2014, 40(12): 1736-1740. doi: 10.13700/j.bh.1001-5965.2013.0752
引用本文: 汪成文, 尚耀星, 焦宗夏, 等 . 阀控电液位置伺服系统非线性鲁棒控制方法[J]. 北京航空航天大学学报, 2014, 40(12): 1736-1740. doi: 10.13700/j.bh.1001-5965.2013.0752
Wang Chengwen, Shang Yaoxing, Jiao Zongxia, et al. Nonlinear robust control of valve controlled electro-hydraulic position servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12): 1736-1740. doi: 10.13700/j.bh.1001-5965.2013.0752(in Chinese)
Citation: Wang Chengwen, Shang Yaoxing, Jiao Zongxia, et al. Nonlinear robust control of valve controlled electro-hydraulic position servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12): 1736-1740. doi: 10.13700/j.bh.1001-5965.2013.0752(in Chinese)

阀控电液位置伺服系统非线性鲁棒控制方法

doi: 10.13700/j.bh.1001-5965.2013.0752
基金项目: 国家自然科学基金资助项目(51235002);国家973计划资助项目(2014CB046400)
详细信息
    作者简介:

    汪成文(1982-),男,辽宁大连人,博士生,cwwang@yeah.net.

  • 中图分类号: V242

Nonlinear robust control of valve controlled electro-hydraulic position servo system

  • 摘要: 为了解决电液伺服跟踪控制中存在流量非线性以及参数不确定问题,以阀控液压马达为对象设计了一种非线性鲁棒控制器.该算法基于Back-Stepping的设计思想,将阀控电液系统的位置跟踪问题转化为系统负载流量规划问题,仅需一步反步递推,即可完成控制器设计,具有较强的工程实用性.该算法综合考虑了制约电液位置系统跟踪精度的流量非线性以及系统参数不确定性问题.理论证明了该算法的稳定性.通过和传统PID(Proportional-Integral-Derivative)控制器的对比试验表明,基于该控制器,系统跟踪性能得到了显著提升.

     

  • [1] Yao B,Bu F P,Reedy J,et al.Adaptive robust motion control of single-rod hydraulic actuators:theory and experiments[J].IEEE-ASME Transactions on Mechatronics,2000,5(1):79-91
    [2] Yao B,Chiu G T C,Reedy J T.Nonlinear adaptive robust control of one-DOF electro-hydraulic servo systems[C]//ASME International Mechanical Engineering Congress and Exposition(IMECE'97),FPST.Los Alamitos,CA:IEEE Comp Soc,1997,4:191-197
    [3] Wang C W,Jiao Z X,Wu S,et al.“Dual-loop control”of load simulator[C]//IEEE International Conference on Industrial Informatics(INDIN).Piscataway,NJ:IEEE,2012:530-535
    [4] Wang C W,Jiao Z X,Wu S,et al.Nonlinear adaptive control of electro-hydraulic load simulator with active motion disturbance[J].Mechatronics,2014,24(1):32-40
    [5] 汪成文,焦宗夏,罗才瑾.基于改进的速度同步控制的电液负载模拟器[J].航空学报,2012,33(9):1717-1725 Wang Chengwen,Jiao Zongxia,Luo Caijin.An improvement velocity synchronization control on electro-hydraulic load simulator[J].Acta Aeronautica et Astronautica Sinica,2012,33(9):1717-1725(in Chinese)
    [6] Wang C W,Jiao Z X,Wu S,et al.An experimental study of the dual-loop control of electro-hydraulic load simulator[J].Chinese Journal of Aeronautics,2013,26(6):1586-1595
    [7] Plummer A R.Robust electrohydraulic force control[J].Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering,2007,221(1):717-731
    [8] Zhao T N,Virvalo T.Fuzzy control of a hydraulic position servo with unknown load[C]//Second IEEE International Conference on Fuzzy Systems.Piscataway,NJ:IEEE,1993:785-788
    [9] Mihajlov M,Nikoli V,Anti D.Position control of an electro-hydraulic servo system using sliding mode control enhanced by fuzzy PI controller[J].Facta Universitatis Series:Mechanical Engineering,2002,1(1):1217-1230
    [10] Miller W T,Hewes R P,Glanz F H,et al.Real-time dynamic control of an industrial manipulator using a neural network-based learning controller[J].Robotics and Automation,IEEE Transactions on,1990,6(2):1-9
    [11] Zhong W F,He X X.Fuzzy neural network control of electro-hydraulic position servo system[J].Electric Machines and Control,2008,4(2):18-24
    [12] Karpenko M,Sepehri N.On quantitative feedback design for robust position control of hydraulic actuators[J].Control Engineering Practice,2010,18(3):289-299
    [13] Ahn K,Lee B,Yang S.Design and experimental evaluation of a robust force controller for a six-link electro-hydraulic manipulator via H control theory[J].KSME International Journal,2003,17(3):999-1010
    [14] Yao B.Adaptive robust control of nonlinear systems with application to control of mechanical systems[D].California:University of California,1996
    [15] Merritt H E,Hydraulic control systems[M].New York:John Wiley & Sons Inc,1967:134-146

  • 加载中
计量
  • 文章访问数:  714
  • HTML全文浏览量:  25
  • PDF下载量:  568
  • 被引次数: 0
出版历程
  • 收稿日期:  2014-01-09
  • 网络出版日期:  2014-12-20

目录

    /

    返回文章
    返回
    常见问答