电液伺服系统建模、辨识与控制的研究现状

Research Status of Modelling Identification and Control of Electro-hydraulic Servo System

电液伺服系统因响应快速与控制灵活等优点在工业控制领域得到了广泛应用,其系统建模、辨识与控制方法的研究是近年的热点。对比了系统建模与辨识方法,电液伺服系统是本质非线性系统,存在死区、饱和、摩擦、间隙及压力-流量增益等非线性因素,线性建模精度不高,理论非线性模型也不同程度地存在未建模特性,采用非线性模型辨识能获得较高的模型精度,研究实时在线的辨识算法,并将其应用到伺服控制中,是未来努力的方向。综述了近年来电液伺服系统的先进控制方法,对理论研究与实际应用具有很强的指导意义。

Electro-hydraulic servo system has been widely used in industrial control area because of the advantages of rapid re-sponse and flexible control.Modeling, identification and control of the system have been a research hotspot in recent years.The model-ling of system and identification methods were compared, the electro-hydraulic servo system was a genius nonlinear system, and there were dead zone, saturated, friction, backlash, and pressure-flow gain nonlinear factors, et al.It was demonstrated that linear modelling got low accuracy, there were unmolded characteristics in theoretic nonlinear model, and high accuracy model could be gotten by using nonlinear model identification method.Study of real-time online identification algorithm, and apply it to the servo control, is the way of striving for future.The advanced control methods of electro-hydraulic servo system in recent years are summarized, which provides strong guidance for theoretical study and practice application.